Title :
On passivity-based control of a class of electrically driven robots
Author :
Moreno-Valenzuela, Javier ; Campa, Ricardo ; Santibáñez, Víctor
Author_Institution :
CITEDI, Inst. Politec. Nac., Tijuana, Mexico
Abstract :
In this paper, a class of robot manipulators actuated by direct current (DC) motors and servo amplifiers in current mode is studied. For those robots, it is assumed that the control inputs to the manipulator are the servo amplifier input voltages. A model-based trajectory tracking controller is developed, which renders the closed-loop system to be passive from an auxiliary control input to a filtered error signal. Experimental results support theoretical results.
Keywords :
DC motors; amplifiers; closed loop systems; electromechanical actuators; filtering theory; manipulators; servomotors; trajectory control; DC motor; auxiliary control input; closed loop system rendering; direct current motors; electrically-driven robot; filtered error signal; model-based trajectory tracking controller; passivity-based control; robot manipulator actuation; servo amplifier input voltage; Aerospace electronics; Computational modeling; Joints; Manipulators; Torque; Voltage control;
Conference_Titel :
IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4673-2419-9
Electronic_ISBN :
1553-572X
DOI :
10.1109/IECON.2012.6389141
