Robust design of independent joint controllers with experimentation on a high-speed parallel robot

Author

Chiacchio, Pasquale ; Pierrot, François ; Sciavicco, Lorenzo ; Siciliano, Bruno

Author_Institution

Dipartimento di Inf. e Sistemistica, Napoli Federico II Univ., Italy

Volume

40

Issue

4

fYear

1993

fDate

8/1/1993 12:00:00 AM

Firstpage

393

Lastpage

403

Abstract

A linear independent joint control scheme is proposed. The design is made robust by closing another feedback loop that uses acceleration information besides the typical position and velocity loops. Reconstruction of acceleration measurements is performed via a suitable state-variable filter. Linear feedforward compensation is used to improve tracking performance of the closed-loop scheme. The control algorithm is tested first in a discrete-time simulation on a single-joint drive system with imposed disturbance torques. Then, real-time implementation on a high-speed parallel robot is presented. The experimental results demonstrate the effectiveness of the proposed technique

Keywords

closed loop systems; compensation; control engineering computing; control system synthesis; digital simulation; feedback; position control; robots; acceleration information; closed-loop scheme; discrete-time simulation; disturbance torques; feedback loop; feedforward compensation; high-speed parallel robot; linear independent joint control scheme; state-variable filter; tracking performance; Acceleration; Accelerometers; Drives; Feedback loop; Filters; Performance evaluation; Robust control; Robustness; System testing; Torque control;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/41.232228

Filename

232228