Control and Stabilization of a nonlinear Uncertain Elastic Robotic Arm

Authors

Sahjendra N. Singh, University of Nevada, Las VegasFollow

Document Type

Article

Publication Date

3-1988

Publication Title

IEEE Transactions on Aerospace and Electronic Systems

Volume

24

First page number:

148

Last page number:

155

Abstract

An approach is presented to the control of an uncertain nonlinear flexible robot arm (PUMA-type) with three rotational joints. The third link is assumed to be elastic. A torquer control law, which is a function of the trajectory error, is derived for controlling the joint angles. The knowledge of the system dynamics is not required for the derivation of the controller. This controller includes a reference model to generate command joint angle trajectories, and a dynamic system in the feedback path which requires only joint angle and rate for feedback. The torquer controller asymptotically decouples the elastic dynamics into two subsystems, representing the transverse vibration of the elastic link in two orthogonal planes. For the damping of the elastic vibration, a force control law using modal velocity feedback is synthesized. Simulation results are presented to show that the combination of the torque and force control law accomplishes reference joint angle trajectory tracking and elastic mode stabilization despite the uncertainty in the system.

Keywords

Control system synthesis; Control systems; Damping; Error correction; Force control; Force feedback; Nonlinear dynamical systems; Robots; Torque control; Vibration control

Disciplines

Controls and Control Theory | Electrical and Computer Engineering | Electrical and Electronics | Electronic Devices and Semiconductor Manufacturing | Signal Processing | Systems and Communications | VLSI and Circuits, Embedded and Hardware Systems

Language

English

Permissions

Use Find in Your Library, contact the author, or interlibrary loan to garner a copy of the item. Publisher policy does not allow archiving the final published version. If a post-print (author's peer-reviewed manuscript) is allowed and available, or publisher policy changes, the item will be deposited.

Repository Citation

Singh, S. N. (1988). Control and Stabilization of a nonlinear Uncertain Elastic Robotic Arm. IEEE Transactions on Aerospace and Electronic Systems, 24 148-155.