Title

Robust Position Tracking Control For Rigid-Link Flexible-Joint Robots Constrained To A Surface

Abstract

This paper presents an approach for designing a robust position tracking controller for rigid-link flexible-joint (BXFJ) robot manipulators constrained to a surface. The methodology uses force control concepts that were developed for rigid link robots operating on a constrained surface and extends them to include the effects of mechanical actuator dynamics. To illustrate this approach, we develop a. robust tracking controller that achieves global uniform ultimate boundedness (GUUB) stability of the link position tracking error. The controller accomplishes this while maintaining bounded end-effector surface forces in spite of model uncertainty and the: presence of unknown bounded disturbances.

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

266-270

Document Type

Article; Proceedings Paper

Identifier

scopus

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/SSST.1992.712274

Socpus ID

85067914598 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/85067914598

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