Title :
Stabilizing robots with uncertain parameters actuated by DC motors with flexible coupling shafts
Author :
Ailon, Amit ; Gil, Michael I. ; Choi, Eun-Seok ; Ahn, Byung-Ha
Author_Institution :
Dept. of Mech., Kwangju Inst. of Sci. & Technol., South Korea
Abstract :
This study presents a linear output-based controller for stabilizing a rigid-link flexible-joint electrically driven robot manipulator, under some conditions of system uncertainty. The proposed controller ensures local exponential stability. The controller is analyzed using tools for pole placement by an output-feedback based on the linear system theory. Applications of the results to the set-point regulation control problem are considered
Keywords :
DC motor drives; asymptotic stability; feedback; manipulator dynamics; matrix algebra; pole assignment; DC motors; exponential stability; flexible coupling shafts; linear system theory; output-feedback; pole placement; robot manipulator; set-point control; system uncertainty; Actuators; Control systems; Couplings; DC motors; Manipulators; Robots; Shafts; Stability; Torque; Uncertainty;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.721584
