Motion control systems with H∞ positive joint torque feedback

被引:24
作者
Aghili, F [1 ]
Buehler, M
Hollerbach, JM
机构
[1] Canadian Space Agcy, St Hubert, PQ, Canada
[2] McGill Univ, Dept Mech Engn, Montreal, PQ H3A 2T5, Canada
[3] Univ Utah, Dept Comp Sci, Salt Lake City, UT 84112 USA
关键词
direct drive motors; disturbance rejection; H-infinity control; motion control; positive joint torque feedback (JTF);
D O I
10.1109/87.944464
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Positive joint torque feedback (JTF) can compensate the detrimental effects of load torques on position tracking performance. However, with (real world) nonideal torque sources, simple unity gain positive torque feedback can actually deteriorate the performance, or even result in instability. In this work, a new H-infinity joint torque feedback approach is proposed which takes into account the actuator's finite bandwidth dynamics, and minimizes the system's sensitivity to load torque disturbances and load dynamics. We also address implementation issues such as the development of a hydraulic dynamometer testbed for measurement of the disturbance sensitivity and of an innovative method for identifying the actuator dynamics. Experiment results with our experimental direct-drive motor demonstrate that the additional H-infinity positive torque feedback remarkably improves the disturbance attenuation and load decoupling properties of a simple PID motion controller. The optimal torque feedback also reduces the tracking error when dealing with a dynamic load while, unlike the conventional unity joint torque feedback, maintaining robust stability.
引用
收藏
页码:685 / 695
页数:11
相关论文
共 24 条
[1]   Sensing the torque in a robot's joints [J].
Aghili, F ;
Buehler, M ;
Hollerbach, JM .
MECHANICAL ENGINEERING, 1998, 120 (09) :66-69
[2]   Optimal commutation laws in the frequency domain for PM synchronous direct-drive motors [J].
Aghili, F ;
Buehler, M ;
Hollerbach, JM .
IEEE TRANSACTIONS ON POWER ELECTRONICS, 2000, 15 (06) :1056-1064
[3]  
Aghili F, 1998, 1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3, P794, DOI 10.1109/IROS.1998.727294
[4]  
Aghili F, 1997, IEEE INT CONF ROBOT, P1156, DOI 10.1109/ROBOT.1997.614294
[5]  
An C.H., 1988, Model-Based Control of a Robot Manipulator
[6]  
[Anonymous], 1980, Engineering applications of correlation and spectral analysis
[7]  
ASADA H, 1985, ASME WINT ANN M ROB, V15, P277
[8]  
Francis B. A., 1987, LECT NOTES CONTROL I
[9]   RIGHT HALF PLANE POLES AND ZEROS AND DESIGN TRADEOFFS IN FEEDBACK-SYSTEMS [J].
FREUDENBERG, JS ;
LOOZE, DP .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1985, 30 (06) :555-565
[10]   ROBOT MOTION CONTROL BASED ON JOINT TORQUE SENSING [J].
HASHIMOTO, M .
PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, :256-261