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Contributions to the control of compliant-joint manipulators
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Dissertation
Contributions to the control of compliant-joint manipulators
1992
Overview
A class of compliant-joint manipulators is investigated, comprising of an open kinematic chain with revolute joints modeled as linear torsional springs. Singular perturbation techniques are used to separate the slow dynamics from the fast dynamics. The model shows the effect that inertial parameters have on the dynamics of the fast subsystem. Joint-torque control laws are examined. For large values of drive inertia, it may not be possible to use a fixed torque control law. For sufficiently small drive inertias there always exists a fixed decentralized joint-torque control law that will asymptotically stabilize the fast dynamics. An analysis of high gain joint-torque control laws is presented. Acceleration feedback is examined. High gain acceleration feedback from collocated drive angles does not destabilize the fast dynamics. However high gain acceleration feedback from noncollocated link angles can destabilize the fast dynamics. Torque control can be used here to stabilize the fast dynamics. Robust control laws for acceleration feedback are discussed.
Publisher
ProQuest Dissertations & Theses
Subject
ISBN
0315876506, 9780315876507
