par Renders, Jean-Michel ;Becquet, Marc ;Hanus, Raymond
Référence Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems, 1988-October, page (105-110), 592415
Publication Publié, 1988
Article révisé par les pairs
Résumé : The classical computed torque method ensures good trajectory tracking. However, it also presents drawbacks. Among them, the method is only well adapted for rigid robots and presents sometimes lacks of robustness. The proposed method considers flexibility of the structure located in the transmission units between the motors and the corresponding arms. The reference trajectories are expressed in terms of relative angular position of successive arms and not in terms of the classical motor shaft angular position. The dynamic model is obtained with a new algorithm which presents the same recursive properties as the classical Newton-Euler algorithm. The dynamic model for this type of structure presents inertial coupling terms between arm joint variables and motor joint variables. This effect is usually ignored in classical developments. The control structure is examined in the continuous time domain. It is composed of two loops: an internal loop related to the motor variables and an external loop related to the arm variables. The control structure requires the knowledge of the arm and motor state (position and speed). Examples are presented illustrating the theoretical developments.