| Autor: |
Felipe J. Torres, Juan P. Ramirez-Paredes, Mario A. Garcia-Murillo, Israel Martinez-Ramirez, Gustavo Capilla-Gonzalez, Victor A. Ramirez |
| Jazyk: |
angličtina |
| Rok vydání: |
2021 |
| Předmět: |
|
| Zdroj: |
IEEE Access, Vol 9, Pp 82373-82379 (2021) |
| Druh dokumentu: |
article |
| ISSN: |
2169-3536 |
| DOI: |
10.1109/ACCESS.2021.3086813 |
| Popis: |
Common assumption in analysis of a flexible one-link robot is to take account of a DC motor as actuator. This work presents the design and stability analysis of a tracking controller of a flexible-robot including the dynamics of a 3-phase induction motor, despite of its high nonlinear dynamics, to drive the joint of the one-link arm. In this manner, the dynamic model of a joint-flexible-robot is combined with the induction motor model to build the motion equations. A control law is proposed for the flexible one-arm robot to track a desired trajectory, thus, this control input is used like the reference torque for the induction motor control. A stability analysis by Lyapunov criterion is detailed to demonstrate the tracking errors are globally exponentially stable. Simulations show the effectiveness of the proposed approach even when the one-link arm is subjected to uncertainty in parameters and external disturbances. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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