Robust Tracking Control Of Rigid-Link Electrically-Driven Robots

    Authors

    R. J. Guldnex; J. J. Carroll; D. M. Dawson;Z. Qu

    Comments

    Authors: contact us about adding a copy of your work at STARS@ucf.edu

    Abbreviated Journal Title

    Int. J. Syst. Sci.

    Keywords

    FEEDBACK; SYSTEMS; Automation & Control Systems; Computer Science, Theory & Methods; Operations Research & Management Science

    Abstract

    A robust tracking controller for rigid-link electrically driven (RLED) robot manipulators operating in free-space or under motion constraints is introduced Using models of the robot dynamics and environmental constraints. a dynamic model with decoupled position and force degrees of freedom is obtained for the mechanical subsystem with respect to a set of task-space coordinates. A robust tracking control is then formulated for the decoupled manipulator dynamics and the electrical actuator dynamics, which yields a global uniform ultimate bounded (GUUB) stability result for the position and velocity tracking error. The controller is robust with respect to parametric uncertainties and additive bounded disturbances in the RLED dynamic model. The controller requires measurement of the robot link positions, link velocities, and motor armature currents.

    Journal Title

    International Journal of Systems Science

    Volume

    25

    Issue/Number

    4

    Publication Date

    1-1-1994

    Document Type

    Article

    Language

    English

    First Page

    629

    Last Page

    649

    WOS Identifier

    WOS:A1994NN45800002

    ISSN

    0020-7721

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