{"title":"Redesign of Robust Controllers for RLFJ Robotic Manipulators Actuated with Harmonic Drives","authors":"M. Bridges, D. Dawson","doi":"10.23919/ACC.1993.4793342","DOIUrl":null,"url":null,"abstract":"In this paper, we redesign a previously developed robust tracking controller for rigid-link flexible-joint (RLFJ) robot manipulators to handle flexibilities specifically introduced by harmonic drive gasing. A non realistic, and consequently super complex model for the input transmission dynamics which includes frictional losses, kinematic order and nonlinear compliances is utilised. The stability result achieved for our proposed nonlinear custmos that the link tracking error is Globally Uniformly Ultimately Bounded (GUUB), in spite of additive bounded disturbances, parametric uncertainty, and the process of complex non-negligible actuator dynamics.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"17 3","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"1993 American Control Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ACC.1993.4793342","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 8
Abstract
In this paper, we redesign a previously developed robust tracking controller for rigid-link flexible-joint (RLFJ) robot manipulators to handle flexibilities specifically introduced by harmonic drive gasing. A non realistic, and consequently super complex model for the input transmission dynamics which includes frictional losses, kinematic order and nonlinear compliances is utilised. The stability result achieved for our proposed nonlinear custmos that the link tracking error is Globally Uniformly Ultimately Bounded (GUUB), in spite of additive bounded disturbances, parametric uncertainty, and the process of complex non-negligible actuator dynamics.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
