Robust H 0 0 Based Control Of Flexible Joint Robots With Harmonic Drive Transmission

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Robust H 0 0 Based Control Of Flexible Joint Robots With Harmonic Drive Transmission

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Author : Majid M. Moghaddam
language : en
Publisher:
Release Date : 1997

Robust H 0 0 Based Control Of Flexible Joint Robots With Harmonic Drive Transmission written by Majid M. Moghaddam and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1997 with categories.

The problem of the control of flexible joint robots is considered. Motion and torque control of robot joints, especially those equipped with harmonic drive (HD) transmission, is a challenging task due to the inherent nonlinear characteristics and joint flexibility of such systems. Two issues related to the control of flexible joint robots are investigated. The first is the development of a systematic scheme for selecting uncertainty bounds of robot joint nonlinearity and flexibility for control design purposes. The second is the development of motion and torque control schemes that guarantee robust performance in the presence of model uncertainties. We propose a twofold robust control design for flexible joint robots with HD: an actuator-level torque control and a link-level motion control. We utilize multivariable ${\cal H}\sb\infty$-based optimal control laws supported entirely by frequency domain measures at both levels. The proposed method provides a unified framework for achieving the desired performance requirements and for preserving robust stability in the presence of model uncertainties. Using simulation it is shown that the proposed method is more robust than conventional methods because the uncertainties due to the actuator-transmission nonlinearity are explicitly considered in the control design procedure. In the design of the actuator level torque control, we analyze nonlinear harmonic drive phenomena that have been widely observed in experiments. The focus is on incorporating into the control design process a knowledge of the mismatch between the physical system and its mathematical models. The describing function and conic-sector-bounded nonlinearity methods are used to build into the control design process the effects of mismatch between hysteresis, friction and nonlinear stiffness of HD transmission and their mathematical models. In the design of the link level motion control, a nonlinear compensator based on the computed torque technique is derived. It is shown that the closed-loop system achieves robust performance using the proposed control design technique. Using the Small Gain theorem and the Lyapunov Function method, the stability of the proposed control scheme is verified. Finally, in order to illustrate the proposed technique two control designs are presented for the IRIS-facility experimental testbed (a versatile, modular, and reconfigurable prototype robot developed at the Robotics and Automaton Laboratory of the University of Toronto) together with simulation and experimental results.

Dissertation Abstracts International

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Author :
language : en
Publisher:
Release Date : 1999

Dissertation Abstracts International written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1999 with Dissertations, Academic categories.

Flexible Joint Robots

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Author : Mark C. Readman
language : en
Publisher: CRC Press
Release Date : 1994-07-13

Flexible Joint Robots written by Mark C. Readman and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 1994-07-13 with Technology & Engineering categories.

Joint flexibility from harmonic or direct drives or flexible couplings limits the performance of robots. Performance can be improved by taking into account the fast dynamics that are introduced by joint flexibility. High gain acceleration feedback from the link angles simplifies the robot dynamics, but is limited by joint flexibility. One solution is to use joint torque feedback to stabilize the fast dynamics. In light of this, drive systems that incorporate joint torque sensors are being developed. Flexible Joint Robots is the first book to consider the myriad problems and potential solutions that affect flexible joint robot design. The book covers fundamental concepts, including joint torque feedback control laws, acceleration feedback, and adaptive control laws. It presents a dynamic model of a flexible joint robot in several coordinate systems and includes an analysis of the fast dynamics.

1997 Ieee Instrumentation And Measurement Technology Conference

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Author :
language : en
Publisher:
Release Date : 1997

1997 Ieee Instrumentation And Measurement Technology Conference written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1997 with Electric measurements categories.

Scientific And Technical Aerospace Reports

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Author :
language : en
Publisher:
Release Date : 1994

Scientific And Technical Aerospace Reports written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1994 with Aeronautics categories.

Robot Dynamics And Control

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Author : Mark W Spong
language : en
Publisher: John Wiley & Sons
Release Date : 2008-08-04

Robot Dynamics And Control written by Mark W Spong and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-08-04 with Robots categories.

This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.

International Aerospace Abstracts

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Author :
language : en
Publisher:
Release Date : 1996

International Aerospace Abstracts written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1996 with Aeronautics categories.

Robot Control 1991 Syroco 91

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Author : I. Troch
language : en
Publisher: Elsevier
Release Date : 2014-05-23

Robot Control 1991 Syroco 91 written by I. Troch and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-05-23 with Technology & Engineering categories.

This volume contains 92 papers on the state-of-the-art in robotics research. In this volume topics on modelling and identification are treated first as they build the basis for practically all control aspects. Then, the most basic control tasks are discussed i.e. problems of inverse kinematics. Groups of papers follow which deal with various advanced control aspects. They range from rather general methods to more specialized topics such as force control and control of hydraulic robots. The problem of path planning is addressed and strategies for robots with one arm, for mobile robots and for multiple arm robots are presented. Also covered are computational improvements and software tools for simulation and control, the integration of sensors and sensor signals in robot control.

Modeling Identification And Control Of Robots

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Author : Wisama Khalil
language : en
Publisher: CRC Press
Release Date : 2002

Modeling Identification And Control Of Robots written by Wisama Khalil and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2002 with Technology & Engineering categories.

Cartesian Impedance Control Of Redundant And Flexible Joint Robots

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Author : Christian Ott
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-07-22

Cartesian Impedance Control Of Redundant And Flexible Joint Robots written by Christian Ott and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-07-22 with Technology & Engineering categories.

By the dawn of the new millennium, robotics has undergone a major transf- mation in scope and dimensions. This expansion has been brought about by the maturity of the ?eld and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and c- munities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider rangeof applications reaching across diverse research areas and scienti?c disciplines, such as: biomechanics, haptics, n- rosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an ab- dant source of stimulation and insights for the ?eld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on thebasisoftheirsigni?canceandquality.Itisourhopethatthewiderdissemi- tion of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing ?eld.