Control of a six-degree-of-freedom flexible industrial manipulator

Author

Lin, Shyng-Her ; Tosunoglu, Sabri ; Tesar, Delbert

Author_Institution

Dept. of Mech. Eng., Texas Univ., Austin, TX, USA

Volume

11

Issue

3

fYear

1991

fDate

4/1/1991 12:00:00 AM

Firstpage

24

Lastpage

30

Abstract

A controller design is proposed for manipulators modeled with joint and link compliances. First, nonlinear feedforward and PID state feedback components are used in the controller, and manipulator dynamics are converted into error-driven system dynamic equations. Then, the error-driven dynamic equations are stabilized using the second method of Lyapunov. The special structure of the Lyapunov matrix equation is exploited, and an explicit solution to this equation is presented. The analysis shows that controller performance can be enhanced through the modulation of this solution. The controller was numerically implemented on the model of a six-degree-of-freedom Cincinnati Milacron T3-776: industrial manipulator that is modeled with three joint and four link flexibilities. The simulations show satisfactory path tracking and oscillation rejection properties.<>

Keywords

Lyapunov methods; control system synthesis; dynamics; feedback; industrial robots; nonlinear control systems; position control; stability; three-term control; Cincinnati Milacron T3-776; Lyapunov matrix equation; PID state feedback; controller design; dynamics; error-driven system dynamic equations; flexible manipulators; industrial robots; nonlinear feedforward; oscillation rejection; path tracking; stability; Control systems; Electrical equipment industry; Error correction; Industrial control; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; State feedback; Three-term control;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.75575

Filename

75575