Title :
The design and implementation of a cross-coupling controller for multi-link direct-drive robots
Author :
Fang, Ren-Wu ; Chen, Jian-Shiang
Author_Institution :
Dept. of Power Mech. Eng., Nat. Tsing Hua Univ., Hsinchu, Taiwan
Abstract :
This paper presents a novel cross-coupling (CC) controller to effectively enhance the contouring accuracy for spatial contours in a multi-link direct-drive (DD) robot under gravity. A cross-coupling control (CCC) scheme based on Lyapunov theory and the recursive updating technique is proposed to reduce the contouring error by coordinating the motion of multiple axes in spite of considerable model uncertainties, disturbances, and gravitational effects. Experimental results on a three-degree-of-freedom (3DOF) DD robot also show that the proposed CCC significantly enhances the contouring accuracy in spatial contouring tasks.
Keywords :
Lyapunov methods; control system synthesis; robots; spatial variables control; uncertain systems; Lyapunov theory; cross-coupling control; model uncertainties; multilink direct-drive robots; spatial contours; Error correction; Motion control; Nonlinear control systems; Optimal control; Robot control; Robot kinematics; Stability; Time varying systems; Tracking; Uncertainty;
Conference_Titel :
Control Conference, 2004. 5th Asian
Conference_Location :
Melbourne, Victoria, Australia
Print_ISBN :
0-7803-8873-9