Title :
Robust control and parameter estimation of robots with flexible joints
Author :
De Wit, C. Canudas ; Lys, O.
Author_Institution :
CNRS, St. Martin d´´Heres, France
Abstract :
A decentralized control design is presented for industrial robots with flexibilities at the joints. Based on an independent joint robot model, a two-degree-of-freedom, linear compensator is proposed. The latter is designed based on the Youla parametrization yielding a stable compensator which effectively takes into account the oscillatory modes, and uses only measurable actuator signals (motor shaft position). Conditions for achieving global stability are given. A two-step estimation mechanism is applied for estimating the complete robot arm model´s parameters
Keywords :
compensation; distributed parameter systems; industrial robots; large-scale systems; parameter estimation; stability criteria; Youla parametrization; decentralized control design; flexible joints; global stability; independent joint robot model; industrial robots; measurable actuator signals; motor shaft position; oscillatory modes; parameter estimation; robust control; stability condition; stable compensator; two-degree-of-freedom linear compensator; two-step estimation mechanism; Actuators; Distributed control; Industrial control; Parameter estimation; Position measurement; Robust control; Service robots; Shafts; Signal design; Stability;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12069
