A Tracking Controller for Manipulators with Flexible Joints Using Sliding Observer

JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing

Print ISSN : 1340-8062

A Tracking Controller for Manipulators with Flexible Joints Using Sliding Observer

Jianming Yang, Yoshikazu Hayakawa, Seizo Fujii

著者情報

キーワード: Tracking Control, Robot Manipulator, Flexibility, Stability, Sliding Observer

ジャーナルフリー

1996 年 39 巻 3 号 p. 484-492

DOI https://doi.org/10.1299/jsmec1993.39.484

詳細

抄録

We present a tracking control scheme for robot manipulators with flexible joints. Only the information from motors is used for feedback. The concept of "desired fictional motor position" is introduced. The stability of a dynamic control system with the sliding observer is guaranteed by using Lyapunov stability theory. To illustrate the effect of the algorithm including the controller and the sliding observer, computer simulations have been carried out using a SCARA 2-DOF manipulator.

著者関連情報

© The Japan Society of Mechanical Engineers

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Bulletin of JSME

JSME international journal

JSME international journal. Ser. 1, Solid mechanics, strength of materials

JSME international journal. Ser. A, Mechanics and material engineering

JSME international journal. Ser. 2, Fluids engineering, heat transfer, power, combustion, thermophysical properties

JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry

後続誌

JSME International Journal Series C Mechanical Systems, Machine Elements and Manufacturing

JSME International Journal Series B Fluids and Thermal Engineering

JSME International Journal Series A Solid Mechanics and Material Engineering

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