Robust microprocessor control of robot manipulators

✍ Scribed by Mark W. Spong; James S. Thorp; Jeffrey M. Kleinwaks

• Publisher: Elsevier Science
• Year: 1987
• Tongue: English
• Weight: 563 KB
• Volume: 23
• Category: Article
• ISSN: 0005-1098
• DOI: 10.1016/0005-1098(87)90010-0

✦ Synopsis

In this paper the problem of robust tracking for robot manipulators in the presence of uncertainty and input constraints is studied. Using the theory of uncertain dynamical systems, robust non-linear control strategies, with guaranteed tracking properties that can be quantified given bounds on the extent of model uncertainty, sensor noise, input disturbances, etc., are derived. A torque optimization strategy is also utilized to optimize the joint torques in the event of actuator saturation. The algorithm has been implemented using a single Motorola 12MHz MC68000 microprocessor on a three-link revolute joint manipulator constructed by the School of Mechanical Engineering at Cornell University. Experimental results are presented here showing the feasibility and performance of the control stragegy.