Title :
Control of robots with nonlinear phenomena in the joints
Author :
Azenha, Abílio ; Machado, J. A Tenreiro
Author_Institution :
Dept. de Engenharia Electrotecnica e de Computadores, Porto Univ., Portugal
Abstract :
This paper develops the analysis of robots with dynamic phenomena at the joints such as friction, backlash and flexibility. The study adopts the describing function (DF) calculation and a decoupling procedure. The DFs are evaluated by decoupling the link inertia and ignoring the centrifugal, Coriolis and gravitational effects. The controllers studied are the first order model and the second order model variable structure controllers (FOM-VSC and SOM-VSC). Results show that the best case in terms of performance is the robot system with nonlinear friction, while the worst one is the manipulator system with backlash
Keywords :
control nonlinearities; describing functions; friction; robot dynamics; variable structure systems; backlash; decoupling; describing function; first order model control; flexibility; friction; joint dynamics; link inertia; nonlinear phenomena; robot control; second order model control; variable structure controllers; Damping; Frequency; Friction; Gears; Nonlinear equations; Prototypes; Robot control; Robot kinematics; Springs; Tiles;
Conference_Titel :
Electrotechnical Conference, 1996. MELECON '96., 8th Mediterranean
Conference_Location :
Bari
Print_ISBN :
0-7803-3109-5
DOI :
10.1109/MELCON.1996.551405
