Point-to-point robot control under actuator constraints

被引：38

作者：

Kelly, R

Santibanez, V

Berghuis, H

机构：

[1] INST TECNOL LAGUNA, COAHUILA 27150, MEXICO

[2] HOLLANDSE SIGNAALAPPARATEN BV, DEPT RDT, R&S, MFE, SER, NL-7550 GD HENGELO, NETHERLANDS

来源：

CONTROL ENGINEERING PRACTICE | 1997年 / 5卷 / 11期

关键词：

robot control; point-to-point control; regulation; stability; direct-drive robots;

D O I：

10.1016/S0967-0661(97)10009-0

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 paper provides a solution to the point-to-point control of robot manipulators, taking into account that the actuators deliver torques in a limited operating zone. A smooth controller, proposed in this paper, yields a globally asymptotically stable closed loop system while the torques remain within specified limits. The performance of the proposed controller is illustrated via experiments on a two degrees-of-freedom direct-drive robot arm. Copyright (C) 1997 Elsevier Science Ltd.

引用

页码：1555 / 1562

页数：8

共 17 条

[1]

CAI L, 1993, PROCEEDINGS : IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, pC449

[2]

Colbaugh R, 1997, IEEE INT CONF ROBOT, P1148, DOI 10.1109/ROBOT.1997.614293

[3]

Craig J. J, 1988, Adaptive control of mechanical manipulators

[4]

Craig J.J., 1989, INTRO ROBOTICS MECH, DOI 10.7227/IJEEE.41.4.11

[5]

Gunawardana R, 1996, IEEE INT CONF ROBOT, P3677, DOI 10.1109/ROBOT.1996.509273

[6] A TUNING PROCEDURE FOR STABLE PID CONTROL OF ROBOT MANIPULATORS [J].

KELLY, R .

ROBOTICA, 1995, 13 :141-148

[7]

Kelly R, 1996, IEEE DECIS CONTR P, P3382, DOI 10.1109/CDC.1996.573678

[8]

Kelly R, 1996, J ROBOTIC SYST, V13, P793, DOI 10.1002/(SICI)1097-4563(199612)13:12<793::AID-ROB2>3.0.CO

[9]

2-Q

[10]

KELLY R, 1994, GLOBAL REGULATION RO

← 1 2 →