A TRACKING CONTROLLER FOR MANIPULATORS WITH FLEXIBLE JOINTS USING SLIDING OBSERVER

Authors
YANG JM HAYAKAWA Y FUJII S
Citation
Jm. Yang et al., A TRACKING CONTROLLER FOR MANIPULATORS WITH FLEXIBLE JOINTS USING SLIDING OBSERVER, JSME international journal. Series C, dynamics, control, robotics, design and manufacturing, 39(3), 1996, pp. 484-492
Citations number
19
Categorie Soggetti
Engineering, Mechanical
Journal title
JSME international journal. Series C, dynamics, control, robotics, design and manufacturing → ACNP
ISSN journal
13408062
Volume
39
Issue
3
Year of publication
1996
Pages
484 - 492
Database
ISI
SICI code
1340-8062(1996)39:3<484:ATCFMW>2.0.ZU;2-Y
Abstract
We present a tracking control scheme for robot manipulators with flexi ble joints. Only the information from motors is used for feedback. The concept of ''desired fictional motor position'' is introduced. The st ability of a dynamic control system with the sliding observer is guara nteed by using Lyapunov stability theory. To illustrate the effect of the algorithm including the controller and the sliding observer, compu ter simulations have been carried out using a SCARA 2-DOF manipulator.