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Robust tuning of robot control systems
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Minis, I. Uebel, M. |
| Copyright Year | 1992 |
| Description | The computed torque control problem is examined for a robot arm with flexible, geared, joint drive systems which are typical in many industrial robots. The standard computed torque algorithm is not directly applicable to this class of manipulators because of the dynamics introduced by the joint drive system. The proposed approach to computed torque control combines a computed torque algorithm with torque controller at each joint. Three such control schemes are proposed. The first scheme uses the joint torque control system currently implemented on the robot arm and a novel form of the computed torque algorithm. The other two use the standard computed torque algorithm and a novel model following torque control system based on model following techniques. Standard tasks and performance indices are used to evaluate the performance of the controllers. Both numerical simulations and experiments are used in evaluation. The study shows that all three proposed systems lead to improved tracking performance over a conventional PD controller. |
| File Size | 3801053 |
| Page Count | 129 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19920011275 |
| Archival Resource Key | ark:/13960/t01z9402s |
| Language | English |
| Publisher Date | 1992-04-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Controllers Robot Arms Torque Algorithms Robot Control Optimal Control Manipulators Mathematical Models Mechanical Drives Dynamical Systems Robots Tuning Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |
