Nonlinear modeling and robust H/sub /spl infin//-based control of flexible joint robots with harmonic drives

Proceedings of International Conference on Robotics and Automation Pub Date : 1997-04-20 DOI:10.1109/ROBOT.1997.606764

M. Moghaddam, A. Goldenberg

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引用次数: 10

Abstract

Motion control of manipulators relies on the ability of the actuation system to provide desired joint torques. For robotic manipulators, particularly those equipped with harmonic drives (HD), this ability is considerably restricted by the inherent nonlinearity, friction and flexibility in the actuator-transmission systems. In this work, a joint torque feedback scheme is used for torque control. The design of this method requires that the actuation system is modeled accurately. The motion control design consists of two parts. In the first part, the error dynamic model of the rigid robot arm is derived, followed by obtaining a computed torque control law based on H/sub /spl infin//. The control torque must be provided accurately. The second part of the control design addresses this issue. It has to perform robustly in the presence of hysteresis, nonlinearity and friction. Describing function and conic sector bounded nonlinearity methods are proposed to model the effect of hysteresis, friction and nonlinear stiffness in the control design.

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谐波驱动柔性关节机器人的非线性建模与鲁棒控制

机械手的运动控制依赖于驱动系统提供所需关节力矩的能力。对于机器人，特别是那些配备谐波驱动(HD)的机器人，这种能力受到执行器-传动系统固有的非线性、摩擦和灵活性的很大限制。本文采用联合转矩反馈方案进行转矩控制。该方法的设计要求对作动系统进行精确建模。运动控制设计包括两个部分。首先推导了刚性机械臂的误差动力学模型，并基于H/sub /spl infin//得到了计算得到的转矩控制律。控制扭矩必须准确提供。控制设计的第二部分解决了这个问题。它必须在存在迟滞、非线性和摩擦的情况下具有鲁棒性。提出了描述函数和圆锥扇形有界非线性方法来模拟控制设计中滞后、摩擦和非线性刚度的影响。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of International Conference on Robotics and Automation

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