Variable structure control of constrained dynamic systems

Author

Huang, Han-Pang ; Lin, Marlon

Author_Institution

Dept. of Mech. Eng., Nat. Taiwan Univ., Taipei, Taiwan

fYear

1990

fDate

13-18 May 1990

Firstpage

1362

Abstract

A modified computed torque controller has been developed by N.H. McClamroch and D. Wang (1987). If the mathematical model of the robot is exact, the modified computed torque can simultaneously control the robot motion and contact force in an accurate way. However, there may exist uncertainties in the model, such as flexibility of joints and links, joint friction, and an inexact surface model. It is shown that the modified computed torque controller may result in an unstable closed-loop system for the system with uncertainties. This difficulty can be overcome by using a variable structure controller. The controller is robust in that it is insensitive to variations in the plant parameters and to external disturbances of contact force

Keywords

force control; position control; robots; torque control; variable structure systems; closed-loop system; constrained dynamic systems; contact force; force control; joint friction; position control; robot; torque controller; variable structure controller; Control systems; Force control; Friction; Mathematical model; Motion control; Robot control; Robot motion; Robust control; Torque control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Conference_Location

Cincinnati, OH

Print_ISBN

0-8186-9061-5

Type

conf

DOI

10.1109/ROBOT.1990.126191

Filename

126191