ROBUST-CONTROL OF ROBOT ARMS INCLUDING MOTOR DYNAMICS

被引：40

作者：

MAHMOUD, MS

机构：

[1] Department of Electrical and Computer Engineering, Kuwait University, Safat, 13060

来源：

INTERNATIONAL JOURNAL OF CONTROL | 1993年 / 58卷 / 04期

关键词：

D O I：

10.1080/00207179308923032

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A state model that incorporates robot arm dynamics together with joint actuator dynamics is formulated as a nominally linear uncertain system. The uncertainty is matched and it is shown to be bounded by a cubic expression of the norm of the joint errors. A nonlinear robust feedback controller is then derived which guarantees global ultimate boundedness of the actual system trajectories. Computer simulations are performed on a model of the PUMA 560 robot arm and the results have verified the feasibility of our controller with excellent trajectory tracking performance.

引用

页码：853 / 873

页数：21

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