Stabilization of the fast modes of a flexible-joint robot

Journal Article · Wed Apr 01 00:00:00 EST 1992 · International Journal of Robotics Research; (United States)

DOI:https://doi.org/10.1177/027836499201100203· OSTI ID:7163950

Readman, M C; Belanger, P R ^[1]

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1. McGill Univ., Montreal, Quebec (Canada)

In this work the robot is assumed to be an open kinematic chain with only revolute joints. Each joint is modeled as a linear torsional spring. The model equations consist of two coupled dynamic systems, one representing the usual rigid body or slow dynamics and the other the fast dynamics introduced by the joint flexibility. The model presented in this article is in a form that brings out the influence on the fast subsystem dynamics of the rigid body parameters and the robot geometry. The model clearly shows the effect that link and drive parameters have on the dynamics of the fast subsystem. It is shown that under certain assumptions there exists a decentralized velocity control law that asymptotically stabilizes the fast subsystem dynamics. In general this control law is gain scheduled. For sufficiently small drive inertias there always exists a fixed decentralized control law that will asymptotically stabilize the fast dynamics. This is true even for large drive ratios. For sufficiently large drive inertias it may not be possible to use a fixed decentralized control law. Under certain conditions a gain-scheduled velocity feedback law can be designed to give attractive pole damping factors. Some examples are given to illustrate these ideas.

• OSTI ID: 7163950
• Journal Information: International Journal of Robotics Research; (United States), Vol. 11:2; ISSN 0278-3649
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
MANIPULATORS
CONTROL
MATHEMATICAL MODELS
CONTROL THEORY
DAMPING
ROBOTS
STABILIZATION
VELOCITY
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
REMOTE HANDLING EQUIPMENT
420200* - Engineering- Facilities
Equipment
& Techniques
990200 - Mathematics & Computers