Robust-Control Of Rigid-Link Flexible-Joint Robots With Redundant Joint Actuators

    Authors

    M. M. Bridges; D. M. Dawson; Z. H. Qu;S. C. Martindale

    Comments

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    Abbreviated Journal Title

    IEEE Trans. Syst. Man Cybern.

    Keywords

    Computer Science, Cybernetics; Engineering, Electrical & Electronic

    Abstract

    In this paper, we present an approach for designing robust tracking controllers for rigid-link flexible-joint (RLFJ) robot manipulators with redundant actuators in the joints. With the proposed controller, we prove that the link tracking error is globally uniformly ultimately bounded (GUUB) in spite of additive bounded disturbances, parametric uncertainty, and other modeling uncertainty. We also illustrate how the load at each joint is shared by two actuators. Finally simulation results are presented to illustrate the effectiveness of the proposed controller.

    Journal Title

    Ieee Transactions on Systems Man and Cybernetics

    Volume

    24

    Issue/Number

    7

    Publication Date

    1-1-1994

    Document Type

    Article

    Language

    English

    First Page

    961

    Last Page

    970

    WOS Identifier

    WOS:A1994NY44900002

    ISSN

    0018-9472

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