Title
Robust tracking control of rigid-link electrically-driven robots
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. © 1994 Taylor & Francis Group, LLC.
Publication Date
1-1-1994
Publication Title
International Journal of Systems Science
Volume
25
Issue
4
Number of Pages
629-649
Document Type
Article
Identifier
scopus
Personal Identifier
scopus
DOI Link
https://doi.org/10.1080/00207729408928986
Copyright Status
Unknown
Socpus ID
0043017453 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/0043017453
STARS Citation
Guldner, J.; Carroll, J. J.; and Dawson, D. M., "Robust tracking control of rigid-link electrically-driven robots" (1994). Scopus Export 1990s. 269.
https://stars.library.ucf.edu/scopus1990/269