Singular Perturbation Method in Control of Multiple Flexible-Joint Robots

Autor:	Junhong Dai, Edward Gu
Rok vydání:	2003
Předmět:	Singular perturbation Computer science Revolute joint Theoretical Computer Science law.invention Computer Science::Robotics Tracking error Industrial robot Computational Theory and Mathematics Artificial Intelligence Control theory law Robot Cartesian coordinate robot Robotic arm Software
Zdroj:	Intelligent Automation & Soft Computing. 9:121-128
ISSN:	2326-005X 1079-8587
DOI:	10.1080/10798587.2000.10642849
Popis:	The trajectory-tracking control of a typical industrial robot with six revolute joints is studied, where the joint flexibility is taken into account. An explicit form of the control law is obtained by using the composite control technique. The stability of system is discussed. The global convergence of tracking error can be reached by tuning the controller parameters. This method has a unique advantage in handling a multiple flexible joint robot as well as hybrid rigid/flexible joint robot. Numerical simulation on a Fanuc-s430iw heavy-duty robot arm has been performed to verify the control algorithm. Satisfactory tracking performance has been achieved.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::8a8be54a9621dd6bd582eb1c7647fc0e https://doi.org/10.1080/10798587.2000.10642849 Zobrazit plný text záznamu