Title :
On the control of magnetically levitated robot wrists
Author_Institution :
IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA
Abstract :
The author deals with the problem of controlling six-degrees-of-freedom magnetically levitated robot wrists. This control problem is greatly simplified by the use of the Euler quaternion representation of rotation. It is shown that both the approximate and exact linearizations of the equations of motion are fully decoupled second-order systems, and therefore simple scalar PD/PID (proportional-derivative/proportional-integral-derivative) compensators can be used for their control. The author presents a novel nonlinear angular velocity or angular momentum observer and shows that it has global and eventually exponential convergence. The author presents simulation results and discusses some implementation issues and experimental results. The simulations, using the magic wrist parameters, showed that these controllers perform well
Keywords :
compensation; linearisation techniques; magnetic levitation; position control; robots; three-term control; two-term control; Euler quaternion representation; PD/PLD compensators; angular momentum observer; linearisation techniques; magic wrist; nonlinear angular velocity; position control; six-degrees-of-freedom magnetically levitated robot wrists; three term control; two term control; Linear approximation; Magnetic levitation; Motion control; Nonlinear equations; PD control; Pi control; Quaternions; Robots; Three-term control; Wrist;
Conference_Titel :
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location :
Austin, TX
DOI :
10.1109/CDC.1988.194293
