DocumentCode
1846091
Title
Robot motion control with induction motors
Author
Seleme, Seleme Isaac, Jr.
Author_Institution
Dept. of Electr. Eng., Univ. de Estado de Santa Catarina, Brazil
Volume
1
fYear
1999
fDate
1999
Firstpage
347
Abstract
The article studies the control of rigid robot manipulators driven by induction motors. The results presented take into account two important aspects: 1) the inclusion of the entire dynamics of the system; 2) the tracking of electrical and mechanical trajectories. A controller based on a state observer is proposed which globally stabilizes the trajectory tracking. This controller gives the possibility of adjusting the motor trajectories according to some optimum criterion
Keywords
induction motors; manipulator dynamics; motion control; observers; position control; stability; tracking; controller; induction motors; mechanical trajectory tracking; motor trajectories; optimum criterion; rigid robot manipulators; robot motion control; state observer; AC motors; Actuators; DC motors; Induction motors; Manipulator dynamics; Motion control; Robot control; Robot motion; Synchronous motors; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location
Phoenix, AZ
ISSN
0191-2216
Print_ISBN
0-7803-5250-5
Type
conf
DOI
10.1109/CDC.1999.832800
Filename
832800
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