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

fYear

2012

fDate

25-28 Oct. 2012

Firstpage

2756

Lastpage

2761

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;

fLanguage

English

Publisher

ieee

Conference_Titel

IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society

Conference_Location

Montreal, QC

ISSN

1553-572X

Print_ISBN

978-1-4673-2419-9

Electronic_ISBN

1553-572X

Type

conf

DOI

10.1109/IECON.2012.6389141

Filename

6389141