Title :
Robust global stabilization of the underactuated 2-DOF manipulator R2D1
Author :
Mareczek, Jörg ; Buss, Martin ; Schmidt, Günther
Author_Institution :
Inst. of Autom. Control Eng., Tech. Univ. Munchen, Germany
Abstract :
In this paper a switching control strategy for robust stabilization of the 2nd-order nonholonomic 2-DOF SCARA robot R2D1 is presented. The first joint is actuated by a direct drive motor, whereas the second joint is equipped with a brake. The unactuated second joint is controlled by non-collocated linearization and a PD-controller. A stability region is derived and robustness is achieved by exploiting the contractive character of the perturbed stability region. The proposed switching control strategy assures global and robust position control of the second joint. Experimental results confirm the efficiency of the proposed approach
Keywords :
damping; linearisation techniques; manipulator dynamics; on-off control; position control; robust control; two-term control; 2-DOF manipulator; PD-controller; damping; dynamics; global stabilization; linearization; nonholonomic SCARA robot; position control; robust control; stability region; switching control; Actuators; Automatic control; Control systems; Manipulators; Orbital robotics; Robots; Robust control; Robust stability; Robustness; Torque;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680741
