Comparison of control results of a flexible one-link robot equipped with a velocity or torque controlled actuator

Author

Torfs, Dirk ; De Schutter, Joris

Author_Institution

Dept. of Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium

fYear

1993

fDate

2-6 May 1993

Firstpage

230

Abstract

A comparison is presented of regulation and tracking control of a flexible one-link robot equipped with either a torque-controlled or a velocity-controlled actuator. The use of a velocity-controlled actuator introduces observability and controllability problems in the state space model. Two control schemes are presented to avoid these defects. Experimental results on a flexible one-link robot show the superior behavior for a velocity-controlled actuator over a torque-controlled actuator with respect to regulation and tracking performance. The control scheme can easily be implemented into an industrial control unit

Keywords

actuators; controllability; observability; position control; robots; state-space methods; controllability; flexible one-link robot; observability; state space model; torque controlled actuator; tracking control; velocity-controlled actuator; Actuators; Controllability; Error correction; Force control; Observability; Orbital robotics; Service robots; Torque control; Velocity control; Weight control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.292151

Filename

292151