欢迎来到天天文库
浏览记录
ID:38819114
大小:478.67 KB
页数:11页
时间:2019-06-19
《Nonlinear control of electrical flexible-joint robots》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、NonlinearDyn(2012)67:25492559DOI10.1007/s11071-011-0167-3ORIGINALPAPERNonlinearcontrolofelectricalflexible-jointrobotsMohammadMehdiFatehReceived:1January2010/Accepted:13July2011/Publishedonline:27August2011©SpringerScience+BusinessMediaB.V.2011AbstractThispaperisdevotedtoth
2、enonlineartrack-speedsfordrivingarobot.However,thedeformationingcontrolofelectricallydrivenflexible-jointmanip-ofthetransmissionsystemproducesflexibilityintheulatorsusingthevoltagecontrolstrategy.Despitethejoints.Thisphenomenonisamainsourceofvibrationtorquecontrollawsthatare
3、involvedinthecomplex-inindustrialrobotmanipulators[1].Comparedwithityofmanipulatordynamics,theproposedcontrollawrigidrobots,thenumberofdegreesoffreedombe-isfreefrommanipulatordynamics.Thisnoveltyisforcomestwicethenumberofcontrolactions,andtheadoptingthevoltagecontrolstrate
4、gytoderiveasimplematchingpropertybetweennonlinearitiesandinputsrobustadaptivecontrolunderbothstructuredandun-islost[2].Performinghighprecisionapplicationsbyastructureduncertainty.Theproposedcontrolapproachflexible-jointrobotseemstobedifficultsinceinwhichhasafastresponsewitha
5、goodtrackingperformancethelinkpositioncannotdirectlyfollowtheactuatorunderthewell-behavedcontroleffortsintheformofposition.Asaresult,thecontrollersshouldcompen-decentralizedcontrol.Thecontrolmethodisjustifiedsatetheflexibilityinjointsforimprovingtheperfor-bythestabilityanaly
6、sisandsimulatedonaflexible-mance,avoidingunwantedoscillationsandestablish-jointelectricallydrivenrobotmanipulator.ingthestability.Aflexible-jointrobotmanipulatorpresentsseriousKeywordsElectricalflexible-jointrobot·Nonlinearproblemssuchasnonlinearity,largeness,coupling,un-cont
7、rol·Stabilityanalysis·Voltagecontrolstrategy·certainty,andjointflexibilityinthemodelingandcon-Uncertainty·Robustadaptivecontroltrol.Thishasattractedagreatdealofresearchusingtheadvancecontroltheoriestodevelophighperfor-mancecontrolapproaches.Forinstance,PDcontrol1Introductio
8、n[3],robustcontrolusingvoltagecontrolstrategy[4],integralmanifoldapproach[5],singularpert
此文档下载收益归作者所有