Control of robots with nonlinear phenomena in the joints

Author

Azenha, Abílio ; Machado, J. A Tenreiro

Author_Institution

Dept. de Engenharia Electrotecnica e de Computadores, Porto Univ., Portugal

Volume

2

fYear

1996

fDate

13-16 May 1996

Firstpage

1123

Abstract

This paper develops the analysis of robots with dynamic phenomena at the joints such as friction, backlash and flexibility. The study adopts the describing function (DF) calculation and a decoupling procedure. The DFs are evaluated by decoupling the link inertia and ignoring the centrifugal, Coriolis and gravitational effects. The controllers studied are the first order model and the second order model variable structure controllers (FOM-VSC and SOM-VSC). Results show that the best case in terms of performance is the robot system with nonlinear friction, while the worst one is the manipulator system with backlash

Keywords

control nonlinearities; describing functions; friction; robot dynamics; variable structure systems; backlash; decoupling; describing function; first order model control; flexibility; friction; joint dynamics; link inertia; nonlinear phenomena; robot control; second order model control; variable structure controllers; Damping; Frequency; Friction; Gears; Nonlinear equations; Prototypes; Robot control; Robot kinematics; Springs; Tiles;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrotechnical Conference, 1996. MELECON '96., 8th Mediterranean

Conference_Location

Bari

Print_ISBN

0-7803-3109-5

Type

conf

DOI

10.1109/MELCON.1996.551405

Filename

551405