We present an approach to the control of elastic robotic systems for space applications using inversion, servocompensation, and feedback stabilization. For simplicity, a robot arm (PUMA-type) with three rotational joints is considered. The third link is assumed to be elastic. Using an inversion algorithm, a nonlinear decoupling control law, ud is derived such that in the closed loop system, independent control of joint angles by the three joint torquers is accomplished. For the stabilization of elastic oscillations, a linear feedback torquer control law, us, is obtained applying linear quadratic optimization to the linearized arm model augmented with a servocompensator about the terminal state. Simulation results show that, in spite of uncertainties in the payload and vehicle angular velocity, good joint angle control and damping of elastic oscillations are obtained with the torquer control law u = ud + us.
Robust torque control of an elastic robotic arm based on invertibility and feedback stabilization
Unempfindliche Torque-Regelung eines beweglichen Roboterarmes auf der Basis von Umstellbarkeit und Rueckkopplungs-Stabilisierung
Proc. of the 24th IEEE Conf. on Decision and Control ; 2 ; 1317-1322
1985
6 Seiten, 8 Bilder, 18 Quellen
Conference paper
English
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