Title :
Output regulation of robot manipulators with a constantly revolving arm
Author :
Wu, Shang-Teh ; Chuang, Yi-Chih
Author_Institution :
Dept. of Mech. Eng., Nat. Yunlin Univ. of Sci. & Technol., Taiwan
Abstract :
This paper presents analysis and experiment results on regulation of a two-link robot with a constantly revolving arm. The rotating member imposes a harmonic excitation on the system. A control algorithm inspired by passive dynamic vibration absorber is devised to turn the base link to a target position asymptotically. The displacement of the base link is the only state variable required in the feedback loop. Asymptotic stability is proved using a tool based on the center manifold theory. Real-time experiments are conducted to verify the performance of the proposed method.
Keywords :
asymptotic stability; feedback; manipulators; nonlinear control systems; servomechanisms; vibration control; LTI; asymptotic stability; center manifold theory; constantly revolving robot arm; linear time-invariant ecosystem; nonlinear servomechanism; output feedback control; output regulation; passive dynamic vibration absorber; robot manipulator; stability analysis; virtual passive control; Asymptotic stability; Ecosystems; Feedback loop; Frequency; Manipulator dynamics; Output feedback; Robots; Robust stability; Servomechanisms; Vibration control;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2003.819599