Title

Tracking Control Of Rigid-Link Electrically-Driven Robot Manipulators Operating Under Motion Constraints

Abstract

This paper introduces a robust corrective tracking controller for rigid-link dectrically-driven (RLED) robot manipulators operating under motion constraints. Using models of the robot dynamics and environmental constraints, a dynamic model with decoupled position and force degrees of freedom (DOF) is obtained for the mechanical subsystem with respect to a set of task space coordinates. A corrective tracking control is then formulated for the decoupled manipulator dynamics and the electrical actuator dynamics. 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.

Publication Date

1-1-1992

Publication Title

Proceedings - SSST/CSA 1992: 24th Southeastern Symposium on System Theory and 3rd Annual Symposium on Communications, Signal Processing Expert Systems, and ASIC VLSI Design

Number of Pages

156-160

Document Type

Article; Proceedings Paper

Identifier

scopus

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/SSST.1992.712213

Socpus ID

84950932770 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84950932770

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