Robust Linear Control of Flexible Joint Robot Systems |
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Authors: | Hoda A. ElMaraghy Tarek Lahdhiri Frank Ciuca |
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Affiliation: | (1) University of Windsor, Windsor, ON, Canada, N9B 3P4;(2) Intelligent Manufacturing Systems Centre, Electrical Engineering Dept, University of Windsor, Windsor, ON, Canada, N9B 3P4 |
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Abstract: | This paper presents the development and design of a robust linear controller for a flexible joint robot. First, a realistic model is developed taking into account the effects of stick-slip friction, nonlinear spring force characteristic, the rotors' Coriolis and centrifugal acceleration due to the velocities of the precedent links and rotors, and measurement noise. Second, a robust controller is designed using LQG/LTR techniques. Extensive simulation was performed on an experimental robot system using several trajectories. The results demonstrate that the proposed model/controller provides excellent tracking and regulation performance. |
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Keywords: | flexible joint robot realistic and comprehensive modeling robust control LQG/LTR |
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