Open AccessJournal Article
On the Voltage-Based Control of Robot Manipulators
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TLDR
In this article, a novel approach for controlling electrically driven robot manipulators based on voltage control is presented, where feedback linearization is applied on the electrical equations of the dc motors to cancel the current terms which transfer all manipulator dynamics to the electrical circuit of motor.Abstract:
This paper presents a novel approach for controlling electrically driven robot manipulators based on voltage control. The voltage-based control is preferred comparing to torque-based control. This approach is robust in the presence of manipulator uncertainties since it is free of the manipulator model. The control law is very simple, fast response, efficient, robust, and can be used for high-speed tracking purposes. The feedback linearization is applied on the electrical equations of the dc motors to cancel the current terms which transfer all manipulator dynamics to the electrical circuit of motor. The control system is simulated for position control of the PUMA 560 robot driven by permanent magnet dc motors.read more
Citations
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Journal ArticleDOI
On the Taylor series asymptotic tracking control of robots
TL;DR: Two robust control schemes using an adaptive Taylor series system for robot manipulators, including actuators' dynamics, are outlined, perfectly capable of dealing with parametric and non-parametric uncertainty and measurement noise.
Proceedings ArticleDOI
Adaptive fourier series-based control of electrically driven robot manipulators
TL;DR: In this paper, the Fourier series is applied to estimate the uncertainty originated from the mismatch between the actual model and nominal model, and the approximation error is then compensated to provide the asymptotically convergence of the tracking error.
Journal ArticleDOI
Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot
TL;DR: This paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR), to cope with the difficulty introduced by the cascade structure in EFJR dynamic model, and to deal with flexibility in joints.
Journal ArticleDOI
On the Voltage-based Control of Robot Manipulators Revisited
TL;DR: It proves that the closed-loop system is stable, while actuator/joint position tracking errors are uniformly ultimately bounded in agreement with Lyapunov’s direct method in any finite region of the state space.
Journal Article
Voltage Control Strategy for Direct-drive Robots Driven by Permanent Magnet Synchronous Motors
TL;DR: A novel tracking control of electrically driven robots which is free from manipulator model is presented and the proposed control law is simple but robust against uncertainties associated with manipulator dynamics.
References
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Book
Introduction to Robotics mechanics and Control
TL;DR: This chapter discusses Jacobians: Velocities and Static Forces, Robot Programming Languages and Systems, and Manipulator Dynamics, which focuses on the role of Jacobians in the control of Manipulators.
Book
Robot dynamics and control
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.
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Introduction to Robotics
TL;DR: Invention to Robotics provides both an introductory text for students coming new to the field and a survey of the state of the art for professional practitioners.
Journal ArticleDOI
A robotics toolbox for MATLAB
TL;DR: The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories.
Book
Model-Based Control of a Robot Manipulator
TL;DR: Model-based control of a robot manipulator has been studied in this paper, where the authors present the first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control.