Synthesis of local control for a robotic manipulator joint

Synthesis of local control for a robotic manipulator joint

van Woerkom, P.T.L.M.
Steenman, G.J.J.

National Aerospace Laboratory NLR

1988-08-24

The objective of the study is the synthesis of an algorithm for the automatic control of an electromechanical actuator in the rotational joint of a multi-link, robotic manipulator. Control performance is assessed in terms of ability of the controlled joint to follow a commanded joint angle, or a commanded joint angular rate. Part One of the report describes the development and analysis of a mathematical (truth-)model suitable for control algorithm synthesis. Synthesis is carried out in the continuous time domain. Three control algorithms are described: classical PID control; redesign of PID control with a model-following inner loop; and a redesign based on modern control principles, involving an observer, two feedforward loops, and one feedback loop. This Part concludes with some guidelines for parameteridentification. Part Two of the report describes some exploratory numerical simulations involving continuous time PD control and discrete time PD control. Further, extensive and systematic simulations are required to determine a definite preference for one of the three control algorithms. Simulation results involving classical control already indicate that even for fairly ideal cases there is a need for control redesign.

Actuators
feedback control
algorithms
model reference adaptive control
robots
joints (anatomy)
manipulators
mathematical models
nonlinear systems
torques
transfer functions
control systems design

http://resolver.tudelft.nl/uuid:9a3b8237-6f63-41dd-96d2-442a4033ac9b

Nationaal Lucht- en Ruimtevaartlaboratorium

Campus only

NLR-TR 88142 U

Aerospace Engineering Reports

report

(c) 1988 National Aerospace Laboratory NLR