Robot manipulator control with joint interaction estimation

The authors present a localized linear control scheme for multijoint robot manipulators based on the estimation of the neighboring joint interactions and nonlinear terms in the joint dynamics. The interaction estimation at each joint is achieved using a linear dynamic process which generates a force...

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Bibliographic Details
Published inIEEE Proceedings of the SOUTHEASTCON '91 pp. 304 - 308 vol.1
Main Authors Mohadjer, M., Khoogar, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1991
Subjects
Couplings
Differential equations
Error correction
Manipulator dynamics
Nonlinear equations
Orbital robotics
Robot control
Three-term control
Torque
Trajectory
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Summary:The authors present a localized linear control scheme for multijoint robot manipulators based on the estimation of the neighboring joint interactions and nonlinear terms in the joint dynamics. The interaction estimation at each joint is achieved using a linear dynamic process which generates a force waveform that closely represents the neighboring joint interactions and all the nonlinear forces in the joint dynamics. To illustrate the proposed control scheme, a single two-link robot manipulator example is used. The simulation results show improvement over the simple PID (proportional-integral-derivative) controller.< >
ISBN:9780780300330
0780300335
DOI:10.1109/SECON.1991.147761