CONTROL OF FLEXIBLE ARMS WITH FRICTION IN THE JOINTS

被引：44

作者：

FELIU, V

RATTAN, KS

BROWN, HB

机构：

[1] WRIGHT STATE UNIV, DEPT ELECT ENGN, DAYTON, OH 45435 USA

[2] CARNEGIE MELLON UNIV, INST ROBOT, PITTSBURGH, PA 15213 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1993年 / 9卷 / 04期

关键词：

Dynamics - Friction - Joints (structural components) - Position control - Robustness (control systems);

D O I：

10.1109/70.246058

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The control of flexible arms with friction in the joints is studied. A method to identify the dynamics of a flexible arm from its frequency response (which is strongly distorted by Coulomb's friction) is proposed. A robust control scheme that minimizes the effects of this friction is presented. The scheme consists of two nested feedback loops: an inner loop to control the motor position and an outer loop to control the tip position. It is shown that a proper design of the inner loop eliminates the effects of friction while controlling the tip position and significantly simplifies the design of the outer loop. The proposed scheme is applied to a class of lightweight flexible arms, and the experiments show that the control scheme results in a simple controller. As a result, the computations are minimized and, thus, high sampling rates may be used.

引用

页码：467 / 475

页数：9