DocumentCode :
2412294
Title :
Composite control of direct-drive manipulators under motion constraints
Author :
Carroll, James ; Dawson, Darren ; Qu, Zhihua
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
fYear :
1991
fDate :
10-12 Mar 1991
Firstpage :
182
Lastpage :
186
Abstract :
Develops a singularly perturbed model of a direct-drive manipulator operating under motion constraints. The electrical subsystem is feedback linearized and made a fast subsystem via high gain current feedback. A slow control is then developed for the manipulator´s mechanical subsystem which consists of a corrective control to compensate for the fast motor dynamics and a computed torque control developed for a single n-joint nonredundant manipulator constrained by a rigid environment. Using models of the robot dynamics and environmental constraints, reduced order dynamic equations are obtained for the mechanical subsystem with respect to a user defined set of constraint variables. A feedback linearising control which yields simultaneous position and force tracking is then formulated for the reduced order manipulator dynamics. This control assumes exact model knowledge and requires measurement of the robot joint positions, joint velocities, end-effector contact forces, and motor currents. Simulation results show that compensating for the electrical motor dynamics provides a dramatic increase in force tracking performance
Keywords :
feedback; linearisation techniques; robots; composite control; computed torque control; corrective control; direct-drive manipulators; feedback linearising control; force tracking; motion constraints; position tracking; reduced order dynamic equations; singularly perturbed model; slow control; Electric variables control; Equations; Force control; Force feedback; Linear feedback control systems; Manipulator dynamics; Mechanical variables control; Motion control; Robots; Torque control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
System Theory, 1991. Proceedings., Twenty-Third Southeastern Symposium on
Conference_Location :
Columbia, SC
ISSN :
0094-2898
Print_ISBN :
0-8186-2190-7
Type :
conf
DOI :
10.1109/SSST.1991.138543
Filename :
138543
Link To Document :
بازگشت