Strain gauge based control of single-link flexible very lightweight robots robust to payload changes

被引：43

作者：

Feliu, V ^{[1
]}

Ramos, F ^{[1
]}

机构：

[1] Univ Castilla La Mancha, Dept Ingn Elect Elect & Automat, Escuela Tecn Super Ingn Ind, E-13071 Ciudad Real, Spain

来源：

MECHATRONICS | 2005年 / 15卷 / 05期

关键词：

flexible robots; robust control; position control; payload variation; strain gauges;

D O I：

10.1016/j.mechatronics.2004.11.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents a new control scheme for single-link flexible very lightweight robots. This is strain gauge based and consists of two nested loops: an internal loop that controls the motor dynamics; and an external loop that allows the tip to be positioned in space. Throughout the paper we demonstrate that the proposed scheme is very robust to payload variations due to the use of the strain gauges. We also show that our scheme is robust to errors in parameter estimation and to motor parameter changes. Finally we illustrate theoretical conclusions with a set of simulations in which we compare the results of our scheme with classical controller results. (c) 2005 Elsevier Ltd. All rights reserved.

引用

收藏

页码：547 / 571

页数：25

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