Exponentially Stable Tracking Control for Multijoint Flexible-Link Manipulators
Exponentially Stable Tracking Control for Multijoint Flexible-Link Manipulators
复制标题
多关节柔性连杆机械臂的指数稳定跟踪控制
DOI：
10.1115/1.2897407
复制
发表时间：
1993
影响因子：
1.7
通讯作者：
E. Bayo
中科院分区：
文献类型：
--
作者：
B. Paden;D. Chen;R. Ledesma;E. Bayo
本文提出了一种新的多关节柔性臂机器人跟踪控制律。该方案综合了UCSB的Bayo提出的柔性机械臂逆动力学解和Bayard、Wen等人提出的刚性机械臂跟踪控制理论。我们表明，被动关节控制器，加上前馈的标称关节力矩对应于所需的末端执行器轨迹，结果在指数稳定的跟踪控制
In this paper we describe a new tracking control law for multijoint flexible-link manipulators. The scheme is a synthesis of the inverse dynamics solution for flexible manipulators developed by Bayo at UCSB and tracking control theory for rigid-link manipulators put forth by Bayard, Wen and others. We show that passive joint controllers, together with the feedforward of nominal joint torques corresponding to a desired end-effector trajectory, results in exponentially stable tracking control