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

Socpus ID

0043017453 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0043017453

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