Trajectory tracking control of flexible-joint robots

Ider S., Ozgoren M.

COMPUTERS & STRUCTURES, cilt.76, sa.6, ss.757-763, 2000 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 76 Sayı: 6
  • Basım Tarihi: 2000
  • Doi Numarası: 10.1016/s0045-7949(99)00183-2
  • Dergi Adı: COMPUTERS & STRUCTURES
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.757-763
  • Anahtar Kelimeler: robot control, flexible-joint robots, inverse dynamics, trajectory tracking, discrete time control, singular differential equations, INVERSE DYNAMICS, SYSTEMS
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

Inverse dynamics control of flexible-joint robots is addressed. It is shown that, in a flexible-joint robot, the acceleration level inverse dynamic equations are singular because the control torques do not have an instantaneou; effect on the end-effector accelerations due to the elastic media. Implicit numerical integration methods that account for the higher order derivative information are utilized for solving the singular set of differential equations. The trajectory tracking control law presented linearizes and decouples the system and yields an asymptotically stable fourth order error dynamics for each end-effector degree of freedom. A 3R spatial robot with all joints flexible is simulated to illustrate the performance of the proposed algorithm. (C) 2000 Elsevier Science Ltd. All rights reserved.