Nonlinear dynamics and motion control of high-performance robotic manipulators with direct drive brushless actuators

Author

Edward, Sherin

Author_Institution

Dept. of Electr. Eng., Purdue Univ., West Lafayette, IN

Volume

1

fYear

1998

fDate

1998

Firstpage

937

Abstract

This paper focuses on solution of the motion control problem (model development, stability analysis, tracking control, and disturbance attenuation) for high-performance industrial robots and servo-systems directly actuated by brushless limited angle torque motors. This kinematic solution allows one to eliminate the backlash and inertia associated with gearing. High precision and accuracy, minimum-time positioning and superior performance, needed in high-performance robots and servos, are achieved and experiments are documented

Keywords

brushless machines; control system analysis; electric actuators; industrial manipulators; manipulator kinematics; nonlinear dynamical systems; servomechanisms; stability; tracking; backlash elimination; brushless limited angle torque motors; direct drive brushless actuators; disturbance attenuation; gearing; high-performance industrial robots; high-performance robotic manipulators; inertia elimination; kinematic solution; minimum-time positioning; model development; nonlinear dynamics; nonlinear motion control; servo-systems; stability analysis; tracking control; Attenuation; Brushless motors; Industrial control; Kinematics; Motion control; Service robots; Servomotors; Stability analysis; Torque control; Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

Conference_Location

Tampa, FL

ISSN

0191-2216

Print_ISBN

0-7803-4394-8

Type

conf

DOI

10.1109/CDC.1998.760815

Filename

760815