Adaptive control of robotic manipulators including motor dynamics

Author

Yuan, Jing

Author_Institution

Dept. of Mech. Eng., Windsor Univ., Ont., Canada

Volume

11

Issue

4

fYear

1995

fDate

8/1/1995 12:00:00 AM

Firstpage

612

Lastpage

617

Abstract

Motor dynamics in a mechanical transmission chain of a robot are common in practice and may significantly affect the dynamic characteristics and stability of a robot. Synthesis of a robust controller for a robot, including motor dynamics, is essentially more complex than that for rigid-body manipulators. The controllers currently in existence require exact knowledge of both the robot and motor dynamics. The acceleration feedback is needed to form a complete state feedback vector for the third-order dynamic system. In this paper, an adaptive controller is proposed, which is able to deal with uncertainties in both the robot and the motor dynamics. An adaptive nonlinear observer is designed to observe the acceleration instead of measuring it by feedback. The closed-loop system is proved to be globally stable in the Lyapunov sense

Keywords

Lyapunov methods; acceleration control; adaptive control; closed loop systems; control system synthesis; manipulator dynamics; robust control; state feedback; Lyapunov global stability; acceleration feedback; adaptive control; adaptive nonlinear observer; closed-loop system; dynamic characteristics; mechanical transmission chain; motor dynamics; robot dynamics; robotic manipulators; robust controller synthesis; state feedback vector; third-order dynamic system; uncertainties; Acceleration; Adaptive control; Manipulator dynamics; Nonlinear dynamical systems; Programmable control; Robot control; Robot sensing systems; Robust control; Stability; State feedback;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.406946

Filename

406946