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Nonlinear robot control based on improved joint model
Grčar, Bojan ; Cafuta, Peter, 1951- ; Žnidarič, Mitja
Cilj prispevka je celovita obravnava aktuatorjev, prenosov in členov v načrtovanju vodenja robotskih manipulatorjev. Model robotskega sklepa je razširjen z integratorskim modelom trenja in nelinearno ...elastičnostojo. Parametri nelinearnega modela sklepa so identificirani na osnovi eksperimentalnih podatkov. Formaliziran postopek natančne vhodno-izhodne linearizacije, ki omogoča vpeljavo linearnih lokalnih regulatorjev, je uporabljen za nominalno progo. Robustnost regulacijskega predpisa je izboljšana z Ljapunovim popravkom za določen razred parameterskih perturbacij in vpliva nemodelirane dinamike. Simulacijski rezultati so dobljeni za laboratorijski SCARA manipulator.
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