Trajectory-tracking control of a multiple flexible joint robot based on singular perturbation

Autor:	Junhong Dai, E. Gu
Rok vydání:	2003
Předmět:	Robot kinematics Engineering Robot calibration business.industry Arm solution Control engineering Revolute joint law.invention Computer Science::Robotics Industrial robot Control theory law Robot Cartesian coordinate robot business Robotic arm
Zdroj:	Proceedings of the 5th Biannual World Automation Congress.
DOI:	10.1109/wac.2002.1049424
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 to guarantee the global convergence of tracking error. This method has a unique advantage in handling a multiple flexible joint robot as well as a hybrid rigid/flexible joint robot. Numerical simulation on a PUMA-600 robot arm has been done to verify the control algorithm for both set-point and time-varying trajectory tracking operations. Some important issues related to the validity of the algorithm are discussed.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::de48fac3f4577eaaee19b3d7418c12bf https://doi.org/10.1109/wac.2002.1049424 Zobrazit plný text záznamu