In this paper, a robust control strategy is proposed for the trajectory tracking control of multi-link elastic robot manipulators. The robustness against both of the structured uncertainty caused by the nonlinear mechanical structure and the unstructured one caused by elasticity of links is taken into account in designing controllers. For this purpose the model of elastic robot manipulators is decomposed into the slow model and the fast model by using an integral manifold approach. The slow controller, which is robust against the structured uncertainty, is designed for the slow model on the basis of VSS theory. On the other hand, the fast controller, which is robust against the unstructured uncertainty, is designed for the fast model on the basis of H∞ control theory. Then the composite control is constructed with the slow controller and the fast controller. Some results of numerical simulations are presented to show the effectiveness of this design procedure.
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December 1997
Technical Papers
Robust Trajectory Tracking Control of Elastic Robot Manipulators
Yoshifumi Morita,
Yoshifumi Morita
Department of Electronic Control Engineering, Gifu National College of Technology, Sinsel-cho, Motosu-gun, Gifu 501-04, Japan
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Hiroyuki Ukai,
Hiroyuki Ukai
Department of Electrical and Computer Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya 466, Japan
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Hisashi Kando
Hisashi Kando
Department of Electrical and Computer Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya 466, Japan
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Yoshifumi Morita
Department of Electronic Control Engineering, Gifu National College of Technology, Sinsel-cho, Motosu-gun, Gifu 501-04, Japan
Hiroyuki Ukai
Department of Electrical and Computer Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya 466, Japan
Hisashi Kando
Department of Electrical and Computer Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya 466, Japan
J. Dyn. Sys., Meas., Control. Dec 1997, 119(4): 727-735 (9 pages)
Published Online: December 1, 1997
Article history
Received:
May 9, 1996
Online:
December 3, 2007
Citation
Morita, Y., Ukai, H., and Kando, H. (December 1, 1997). "Robust Trajectory Tracking Control of Elastic Robot Manipulators." ASME. J. Dyn. Sys., Meas., Control. December 1997; 119(4): 727–735. https://doi.org/10.1115/1.2802384
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