Title :
Robot motion control with induction motors
Author :
Seleme, Seleme Isaac, Jr.
Author_Institution :
Dept. of Electr. Eng., Univ. de Estado de Santa Catarina, Brazil
Abstract :
The article studies the control of rigid robot manipulators driven by induction motors. The results presented take into account two important aspects: 1) the inclusion of the entire dynamics of the system; 2) the tracking of electrical and mechanical trajectories. A controller based on a state observer is proposed which globally stabilizes the trajectory tracking. This controller gives the possibility of adjusting the motor trajectories according to some optimum criterion
Keywords :
induction motors; manipulator dynamics; motion control; observers; position control; stability; tracking; controller; induction motors; mechanical trajectory tracking; motor trajectories; optimum criterion; rigid robot manipulators; robot motion control; state observer; AC motors; Actuators; DC motors; Induction motors; Manipulator dynamics; Motion control; Robot control; Robot motion; Synchronous motors; Torque;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.832800
