NDLI: Robot motion control using induction motor drives

Content Provider	IEEE Xplore Digital Library
Author	Canudas de Wit, C. Ortega, R. Seleme, S.I.
Copyright Year	1993
Description	Author affiliation: Lab. d Autom. de Grenoble, ENSIEG-INPG, France (Canudas de Wit, C.)
Abstract	An asymptotically stable scheme for motion control of rigid robots with induction motor drives is presented. The result is established considering a model that includes the electrical and mechanical dynamics of the induction motors, as well as the full rigid body dynamics of the robot manipulator. The design is carried out in three steps. An inner control loop is designed such that the overall system becomes a cascade connection of two nonlinear subsystems, i.e., the motor electrical dynamics are decoupled from the robot variables. The torque required to track the desired joint trajectory is evaluated. A controller is designed to insure that the torques generated by the motors asymptotically track the desired torque.
Starting Page	533
Ending Page	538
File Size	546441
Page Count	6
File Format	PDF
ISBN	0818634502
DOI	10.1109/ROBOT.1993.291903
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-05-02
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot motion Motion control Robot control Induction motor drives Manipulator dynamics Nonlinear dynamical systems Electric variables control Induction motors Mechanical variables control Nonlinear control systems
Content Type	Text
Resource Type	Article

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