Title :
Nonlinear control laws for a 2 flexible link robot: comparison of applicability domains
Author :
Chevallereau, C. ; Aoustin, Y.
Author_Institution :
Lab. d´´Autom. de Nantes, CNRS, Ecole Centrale de Nantes, France
Abstract :
The authors propose a nonlinear control law defined to minimize the variation of the performances of the robot whatever the location of the trajectory in the workspace. It takes elastic deflections into account, and minimizes the norm of the difference between the real behavior and the desired behavior of the robot. A method for calculating the gain is proposed, and the results are compared with the linear control laws. The applicability domains on both control laws are considered, and robustness is studied
Keywords :
distributed parameter systems; large-scale systems; nonlinear control systems; robots; 2-flexible-link robot; applicability domains; elastic deflections; nonlinear control; performance variation minimization; Finite element methods; Linear feedback control systems; Mathematical model; Motion control; Robots; Robust control; Shape control; Sliding mode control; State feedback; Torque control;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220279
