Open AccessJournal Article
On the Voltage-Based Control of Robot Manipulators
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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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Robust control of electrically driven robots by adaptive fuzzy estimation of uncertainty
TL;DR: In this article, a nonlinear adaptive fuzzy estimation and compensation of uncertainty is proposed to model the uncertainty as a non-linear function of the joint position error and its time derivative, and a comparison between the proposed Nonlinear Adaptive Fuzzy Control and a Robust Nonlinear Control (NAFC) is presented.
Journal ArticleDOI
Robust control of flexible-joint robots using voltage control strategy
TL;DR: In this paper, the authors used voltage control strategy to develop robust tracking control of electrically driven flexible-joint robot manipulators, which is computationally simple, decoupled, well-behaved and has a fast response.
Journal ArticleDOI
Nonlinear control of electrical flexible-joint robots
TL;DR: In this article, a nonlinear tracking control of electrically driven flexible-joint manipulators using the voltage control strategy is proposed, which is based on a simple robust adaptive control under both structured and unstructured uncertainty.
Journal ArticleDOI
Uncertainty estimation in robust tracking control of robot manipulators using the Fourier series expansion
TL;DR: This paper intuitively shows that in order to perform repetitive tasks; the least common multiple (LCM) of fundamental period durations of the desired trajectories of the joints is a proper value for the fundamental period duration of the Fourier series expansion.
Journal ArticleDOI
Robust task-space control of robot manipulators using Legendre polynomials for uncertainty estimation
TL;DR: In this paper, a robust task-space control of electrically driven robot manipulators using voltage control strategy is proposed. But, the complexity of the robust control law is high, and it requires some feedbacks of the system states which providing them may be expensive.
References
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Journal ArticleDOI
Time-Energy Optimal Control of Articulated Systems With Geometric Path Constraints
TL;DR: In this article, the Pontryagin maximum principle was used to minimize a time-energy cost function for a two-link planar manipulator and experimentally for the UCLA Direct Drive Arm.
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Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators
TL;DR: In the presence of uncertain constraint and robot model, an adaptive controller with robust motion/force tracking performance for constrained robot manipulators is proposed, where a performance criterion containing disturbance and estimated parameter attenuations is presented.
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Adaptive Jacobian tracking control of rigid-link electrically driven robots based on visual task-space information
TL;DR: A new task-space control method using visual task- space information is proposed to overcome the uncertainties adaptively in rigid-link electrically driven robot manipulators in the presence of uncertainties in kinematics, manipulator dynamics, and actuator dynamics.
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Compensation of Industrial Manipulator Dynamics
TL;DR: For the PUMA-560 case study, the motor dynamics were determined and combined with link dynamics to model the complete system and the impact from compen sating for specific manipulator dynamics by feedforward and computed-torque controllers was tested.
Journal ArticleDOI
Neural network control of flexible-link manipulators using sliding mode
TL;DR: A combined control strategy based on neural network and sliding mode control is proposed systematically and the chattering phenomenon in conventional SMC is eliminated, the computation burden caused by model dynamics is reduced and the theoretic results are validated on the flexible-link manipulator experimental system in Tsinghua University.