Robust independent joint controller design for industrial robot manipulators

Author

Hsia, T. C Steve ; Lasky, Ty A. ; Guo, Zhengyu

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA

Volume

38

Issue

1

fYear

1991

fDate

2/1/1991 12:00:00 AM

Firstpage

21

Lastpage

25

Abstract

A novel approach is presented for the design of simple robust independent joint controllers for industrial robot manipulators. In this approach, each joint actuator is treated as a simple inertial system plus a disturbance torque representing all the unmodeled dynamics. By a very simple algorithm, the disturbance is instantly estimated and rejected, thus allowing a simple proportional-derivative (PD) control scheme to be used. The stability of the proposed control law is analyzed. Experimental evaluations of the controller on a microcomputer-controlled PUMA 560 arm were performed. It is shown that the control scheme is simple and practical and that it can be easily implemented on an industrial manipulator presently in use

Keywords

control system synthesis; industrial robots; microcomputer applications; stability; two-term control; disturbance torque; industrial robot manipulators; microcomputer-controlled PUMA 560 arm; proportional derivative control scheme; robust independent joint controllers; stability; unmodeled dynamics; Actuators; Electrical equipment industry; Industrial control; Manipulator dynamics; PD control; Proportional control; Robot control; Robust control; Service robots; Torque;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.103479

Filename

103479