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Content Provider | IEEE Xplore Digital Library |
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Author | May, D. C. Jayasuriya, S. Mooring, B. W. |
Copyright Year | 1990 |
Description | Author affiliation: Mechanical Engineering Department, Texas A&M University, College Station, Texas 77843-3123 (May, D. C.; Jayasuriya, S.) || IBM Corporation, 11400 Burnett Rd, Austin, TX 78758-1033 (Mooring, B. W.) |
Abstract | The design of an individual joint of a robot manipulator typically includes some form of transmission between the prime mover and the joint itself. From a geometric point of view, employing a worm gearset can, in many situations, be a desirable way to realize this function. However, for some robot configurations, the manipulator and the worm gearset give rise to unstable behavior characterized by a growing oscillatory motion. A stabilizing controller for this type of system is necessary. Presented here is a synopsis of such a feedback control design which achieves stabilization. The system differential equations are linearized about a desired trajectory and averaged to obtain a set of linear time invariant equations. These linearized equations are then used as the plant-model for controller synthesis. The design synthesis is accomplished by classical lead-lag compensation. In a physical experiment, velocity feedback from the motor tachometer and digital control are used to implement and verify the control schemes. |
Starting Page | 1272 |
Ending Page | 1278 |
File Size | 536761 |
Page Count | 7 |
File Format | |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 1990-05-23 |
Publisher Place | USA |
Access Restriction | Subscribed |
Rights Holder | American Automatic Control Council(AACC) |
Subject Keyword | Velocity control Gears Manipulators Robots Differential equations Torque Control system synthesis Feedback Digital control Orbital robotics |
Content Type | Text |
Resource Type | Article |
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