Effect of motor dynamics on nonlinear feedback robot arm control
Effect of motor dynamics on nonlinear feedback robot arm control
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DOI：
10.1109/70.68075
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发表时间：
1991-02
期刊：
影响因子：
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通讯作者：
T. Tarn;A. Bejczy;X. Yun;Zuofeng Li
中科院分区：
文献类型：
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作者：
T. Tarn;A. Bejczy;X. Yun;Zuofeng Li
提出了一种综合了机器人机械手动力学和机器人关节电机动力学的非线性反馈机器人控制器。将机械手动力学和电机动力学耦合得到三阶动力学模型，应用微分几何控制理论设计了线性化、解耦的机器人控制器。派生的机器人控制器在机器人任务空间中操作，从而消除了将运动命令分解为机器人关节空间命令的需要。计算机仿真验证了所提出的机器人控制器的可行性。该控制器在PUMA 560机械臂上进行了进一步的实验评估。实验结果表明，该控制器具有良好的轨迹跟踪性能，对模型误差具有较强的鲁棒性。与仅基于机械手动力学的非线性反馈机器人控制器相比，所提出的机器人控制器的性能有了显著的改善。>；
A nonlinear feedback robot controller that incorporates the robot manipulator dynamics and the robot joint motor dynamics is proposed. The manipulator dynamics and the motor dynamics are coupled to obtain a third-order-dynamic model, and differential geometry control theory is applied to produce a linearized and decoupled robot controller. The derived robot controller operates in the robot task space, thus eliminating the need for decomposition of motion commands into robot joint space commands. Computer simulations are performed to verify the feasibility of the proposed robot controller. The controller is further experimentally evaluated on the PUMA 560 robot arm. The experiments show that the proposed controller produces good trajectory tracking performances and is robust in the presence of model inaccuracies. Compared with a nonlinear feedback robot controller based on the manipulator dynamics only, the proposed robot controller yields conspicuously improved performance. >