Trajectory control of Cartesian type industrial manipulators with flexible joints

Author

Yoshikawa, Tsuneo ; Hosoda, Koh ; Harada, Kensuke ; Ichikawa, Masashi

Author_Institution

Dept. of Mech. Eng., Kyoto Univ., Japan

Volume

1

fYear

1993

fDate

26-30 Jul 1993

Firstpage

14

Abstract

In this paper, a method for PTP and trajectory control of Cartesian type three DOF industrial manipulator with flexible joints are proposed. The elasticity of the manipulator is modeled using the spring-mass model. To establish the equation of motion, the Lagrangian formulation is used. The state equation is derived. Then it is linearized approximately. The PTP control system is formulated. A minimal order observer is used in this PTP control system, and the trajectory control is realized based on the optimal control theory. Furthermore, the desired trajectory is modified to improve the tracking performance. Finally, computer simulation results are given to show the validity of the proposed tracking controller

Keywords

position control; Cartesian type industrial manipulators; PTP control system; flexible joints; minimal order observer; optimal control; spring-mass model; three DOF industrial manipulator; tracking controller; trajectory control; Computer simulation; Control systems; Elasticity; Electrical equipment industry; Equations; Industrial control; Lagrangian functions; Linear approximation; Optimal control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on

Conference_Location

Yokohama

Print_ISBN

0-7803-0823-9

Type

conf

DOI

10.1109/IROS.1993.583001

Filename

583001