DocumentCode :
1149755
Title :
Elastic Robot Control: Nonlinear Inversion and Linear Stabilization
Author :
Singh, Sahjendra N. ; Schy, Albert A.
Author_Institution :
Vigyan Research Associates, Inc.
Issue :
4
fYear :
1986
fDate :
7/1/1986 12:00:00 AM
Firstpage :
340
Lastpage :
348
Abstract :
An approach to the control of elastic robot systems for space applications using inversion, servocompensation, and feedback stabilization is presented. For simplicity, a robot arm (PUMA type) with three rotational joints is considered. The third link is assumed to be elastic. Using an inversion algorithm, a nonlinear decoupling control law Ud is derived such that in the closed-loop system independent control of joint angles by the three joint torquers is accomplished. For the stabilization of elastic oscillations, a linear feedback torquer control law us is obtained applying linear quadratic optimization to the linearized arm model augmented with a servocompensator about the terminal state. Simulation results show that in spite of uncertainties in the payload and vehicle angular velocity, good joint angle control and damping of elastic oscillations are obtained with the torquer control law u = ud + us.
Keywords :
Angular velocity control; Control systems; Linear feedback control systems; Nonlinear control systems; Orbital robotics; Payloads; Robot control; State feedback; Torque control; Uncertainty;
fLanguage :
English
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9251
Type :
jour
DOI :
10.1109/TAES.1986.310769
Filename :
4104223
Link To Document :
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