Robot motion control using induction motor drives

An asymptotically stable scheme for motion control of rigid robots with induction motor drives is presented. The result is established considering a model that includes the electrical and mechanical dynamics of the induction motors, as well as the full rigid body dynamics of the robot manipulator. The design is carried out in three steps. An inner control loop is designed such that the overall system becomes a cascade connection of two nonlinear subsystems, i.e., the motor electrical dynamics are decoupled from the robot variables. The torque required to track the desired joint trajectory is evaluated. A controller is designed to insure that the torques generated by the motors asymptotically track the desired torque