Iterative regulation of an electrically driven flexible-joint robot with model uncertainty

被引：23

作者：

Ailon, A

Lozano, R

Gil, MI

机构：

[1] Ben Gurion Univ Negev, Dept Elect & Comp Engn, IL-84105 Beer Sheva, Israel

[2] Univ Technol Compiegne, F-60206 Compiegne, France

[3] Ben Gurion Univ Negev, Dept Math, IL-84105 Beer Sheva, Israel

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2000年 / 16卷 / 06期

关键词：

contraction mapping; flexible-joint robot; friction force; motor dynamics; output controller; set-point regulation; uncertainty;

D O I：

10.1109/70.897798

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 study considers the set-point regulation Control problem of rigid and flexible-joint electrically driven robots with model uncertainties and unknown payloads. The proposed control scheme is based on simple linear state and output feedbacks. The resulting controller can also be implemented in a case where the current signal is not measurable. Applications of the approach when the Coulomb friction forces are taken into account have also been considered.

引用

页码：863 / 870

页数：8

共 17 条

[1] Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models [J].

Ailon, A .

AUTOMATICA, 1996, 32 (10) :1455-1461

[2] Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics [J].

Ailon, A ;

LozanoLeal, R ;

Gil, M .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1997, 42 (04) :559-564

[3]

AILON A, 1998, IEEE C CONTR APPL TR

[4] A SURVEY OF MODELS, ANALYSIS TOOLS AND COMPENSATION METHODS FOR THE CONTROL OF MACHINES WITH FRICTION [J].

ARMSTRONGHELOUVRY, B ;

DUPONT, P ;

DEWIT, CC .

AUTOMATICA, 1994, 30 (07) :1083-1138

[5]

Bridges MM, 1996, INT J ADAPT CONTROL, V10, P417, DOI 10.1002/(SICI)1099-1115(199607)10:4/5<417::AID-ACS372>3.0.CO

[6]

2-G

[7] An adaptive partial state-feedback controller for RLED robot manipulators [J].

Burg, T ;

Dawson, D ;

Hu, J ;

deQueiroz, M .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1996, 41 (07) :1024-1030

[8] Integrator backstepping control of a brush DC motor turning a robotic load [J].

Dawson, D.M. ;

Carroll, J.J. ;

Schneider, M. .

IEEE Transactions on Control Systems Technology, 1994, 2 (03) :233-244

[9] AN ITERATIVE SCHEME FOR LEARNING GRAVITY COMPENSATION IN FLEXIBLE ROBOT ARMS [J].

DELUCA, A ;

PANZIERI, S .

AUTOMATICA, 1994, 30 (06) :993-1002

[10] An experimental comparison of robust control algorithms on a direct drive manipulator [J].

Jaritz, A ;

Spong, MW .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 1996, 4 (06) :627-640

← 1 2 →