Experimental evaluation of link position tracking controllers for rigid-link flexible-joint robots

Author

de Queiroz, M.S. ; Donepudi, S. ; Burg, T. ; Dawson, D.M.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Volume

4

fYear

1996

fDate

11-13 Dec 1996

Firstpage

4092

Abstract

We present an experimental evaluation of several link position tracking control algorithms for rigid-link flexible-joint (RLFJ) robot manipulators. To study the performance of the controllers, an IMI 2-link direct-drive planar robot manipulator was modified to approximate linear torsional spring couplings from the actuators to the links. Preliminary experimental results seem to indicate that reduced-order model-based controllers with an actuator feedback loop provide relatively good link position tracking while a full-order model based controller offers some further improvement in link position tracking at the expense of increased computation

Keywords

feedback; manipulator dynamics; position control; reduced order systems; tracking; two-term control; IMI 2-link direct-drive planar robot manipulator; actuator feedback loop; full-order model based controller; linear torsional spring couplings; link position tracking control algorithms; link position tracking controllers; reduced-order model-based controllers; rigid-link flexible-joint robots; Actuators; Backstepping; Control design; Feedback loop; H infinity control; Manipulators; Reduced order systems; Robot control; Springs; Tracking loops;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.577391

Filename

577391