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INVERSE DYNAMICS CONTROL OF CONSTRAINED ROBOTS IN THE PRESENCE OF JOINT FLEXIBILITY

โœ Scribed by S.KEMAL IDER

Publisher
Elsevier Science
Year
1999
Tongue
English
Weight
192 KB
Volume
224
Category
Article
ISSN
0022-460X

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โœฆ Synopsis

An inverse dynamics control algorithm for constrained #exible-joint robots is developed. It is shown that in a #exible-joint robot, the acceleration level inverse dynamic equations are singular because of the elastic media. Implicit numerical integration methods that account for the higher order derivative information are utilized for solving the singular set of di!erential equations. The control law proposed linearizes and decouples the system and achieves simultaneous and asymptotically stable trajectory tracking control of the end-e!ector motion and contact forces. Together with the integrators for improving robustness due to modelling errors and disturbances, a "fth order position error dynamics and a third order contact force error dynamics are obtained. A 3R spatial robot with all joints #exible is simulated to illustrate the performance of the method.

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