首页   按字顺浏览 期刊浏览 卷期浏览 An external linearization approach to the control of industrial robots with flexible jo...
An external linearization approach to the control of industrial robots with flexible joints

 

作者: Lih‐Chang Lin,   King Yuan,  

 

期刊: Journal of the Chinese Institute of Engineers  (Taylor Available online 1989)
卷期: Volume 12, issue 1  

页码: 35-45

 

ISSN:0253-3839

 

年代: 1989

 

DOI:10.1080/02533839.1989.9677129

 

出版商: Taylor & Francis Group

 

关键词: elastic‐joint robots;external linearization control

 

数据来源: Taylor

 

摘要:

Based on the feedback linearization structure algorithm of differential geometric nonlinear control theory, an external linearization approach to the control of multi‐link flexible joint robots is considered in this paper. The resulting externally linearized and input‐output decoupled closed‐loop system describing the rigid motor motions is suitable for the design of nominal trajectory following control. However, there still exists a nonlinear joint deformation subsystem causing perturbations in the nominal trajectory. To rapidly damp out the elastic vibrations and to render the complete closed‐loop system robust to uncertainty in system parameters, a combined LQR stabilizer and servocompensator is used as the perturbed stage control. The tracking errors of the end effector caused by joint deflections due to gravity and inertia force can be compensated for by taking into account the nominal deflections in both the trajectory planning and LQ regulation. A three‐link PUMA type arm is tested via simulation.

 

点击下载:  PDF (751KB)



返 回