Title

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

Authors

Authors

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

Comments

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

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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