Open AccessJournal Article
On the Voltage-Based Control of Robot Manipulators
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
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
Robust design of independent joint controllers with experimentation on a high-speed parallel robot
TL;DR: A linear independent joint control scheme is proposed that is made robust by closing another feedback loop that uses acceleration information besides the typical position and velocity loops and implemented on a high-speed parallel robot.
Journal ArticleDOI
Adaptive control of robot manipulators using fuzzy logic systems under actuator constraints
TL;DR: A stable fuzzy adaptive controller for trajectory tracking is developed for robot manipulators without velocity measurements, taking into account the actuator constraints, and is robust not only to structured uncertainty such as payload parameter variation, but also to unstructured one such as disturbances.
Journal ArticleDOI
Performance comparison of four manipulator servo schemes
TL;DR: In this paper, a comparison of nonlinear task-level and joint-level servo schemes was made for trajectory tracking performance of a six-degree-of-freedom PUMA 560 arm.
Journal ArticleDOI
Point-to-point robot control under actuator constraints
TL;DR: In this paper, a smooth controller for point-to-point control of robot manipulators is proposed, taking into account that the actuators deliver torques in a limited operating zone, which yields a globally asymptotically stable closed loop system while the torques remain within specified limits.
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