Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

Robust control of flexible-joint robots using voltage control strategy

Robust control of flexible-joint robots using voltage control strategy So far, control of robot manipulators has frequently been developed based on the torque-control strategy. However, two drawbacks may occur. First, torque-control laws are inherently involved in complexity of the manipulator dynamics characterized by nonlinearity, largeness of model, coupling, uncertainty and joint flexibility. Second, actuator dynamics may be excluded from the controller design. The novelty of this paper is the use of voltage control strategy to develop robust tracking control of electrically driven flexible-joint robot manipulators. In addition, a novel method of uncertainty estimation is introduced to obtain the control law. The proposed control approach has important advantages over the torque-control approaches due to being free of manipulator dynamics. It is computationally simple, decoupled, well-behaved and has a fast response. The control design includes two interior loops; the inner loop controls the motor position and the outer loop controls the joint position. Stability analysis is presented and performance of the control system is evaluated. Effectiveness of the proposed control approach is demonstrated by simulations using a three-joint articulated flexible-joint robot driven by permanent magnet dc motors. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Nonlinear Dynamics Springer Journals

Robust control of flexible-joint robots using voltage control strategy

Fateh, Mohammad
Nonlinear Dynamics , Volume 67 (2) – Jun 11, 2011
Download PDF
13 pages

Loading next page...
 
/lp/springer-journals/robust-control-of-flexible-joint-robots-using-voltage-control-strategy-Il0BPxPkme

References (35)

Publisher
Springer Journals
Copyright
Copyright © 2011 by Springer Science+Business Media B.V.
Subject
Engineering; Mechanical Engineering; Mechanics; Automotive Engineering; Vibration, Dynamical Systems, Control
ISSN
0924-090X
eISSN
1573-269X
DOI
10.1007/s11071-011-0086-3
Publisher site
See Article on Publisher Site

Abstract

So far, control of robot manipulators has frequently been developed based on the torque-control strategy. However, two drawbacks may occur. First, torque-control laws are inherently involved in complexity of the manipulator dynamics characterized by nonlinearity, largeness of model, coupling, uncertainty and joint flexibility. Second, actuator dynamics may be excluded from the controller design. The novelty of this paper is the use of voltage control strategy to develop robust tracking control of electrically driven flexible-joint robot manipulators. In addition, a novel method of uncertainty estimation is introduced to obtain the control law. The proposed control approach has important advantages over the torque-control approaches due to being free of manipulator dynamics. It is computationally simple, decoupled, well-behaved and has a fast response. The control design includes two interior loops; the inner loop controls the motor position and the outer loop controls the joint position. Stability analysis is presented and performance of the control system is evaluated. Effectiveness of the proposed control approach is demonstrated by simulations using a three-joint articulated flexible-joint robot driven by permanent magnet dc motors.

Journal

Nonlinear Dynamics – Springer Journals

Published: Jun 11, 2011

There are no references for this article.