Izvorni znanstveni članak

https://doi.org/10.7305/automatika.2016.10.969

Unbounded regulators with variable gains for a direct-drive robot manipulator

Miguel Angel Limón Díaz ; Centro de Investigación y Estudios de Posgrado, Facultad de Ingeniería, Universidad Autónoma de San Luis Potosí, Av. Manuel Nava 8, Zona Universitaria, San Luis Potosí, S.L.P. 78290 México
Fernando Reyes Cortés ; Grupo de Robótica, Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla, 18 Sur y Av. San Claudio, Ciudad Universitaria, Puebla, Pue., 75570 México
Emilio Jorge González Galván orcid.org/0000-0002-5682-0070 ; Centro de Investigación y Estudios de Posgrado, Facultad de Ingeniería, Universidad Autónoma de San Luis Potosí, Av. Manuel Nava 8, Zona Universitaria, San Luis Potosí, S.L.P. 78290 México

Sažetak

This paper addresses the position-control problem with variable gains for robot manipulators. We present a new regulator based on a hyperbolic-sine structure with tuning rules for control gains. It is demonstrated that the equilibrium point of the closed-loop system is globally, asymptotically stable according to Lyapunov theory. By using a similar methodology, this concept can be extended to other unbounded controllers such as PD and PID. In order to show the usefulness of the proposed scheme and with the purpose of validating its asymptotical stability property, an experimental comparison involving constant gains controllers, for example: simple PD, PID and hyperbolic-tangent schemes vs variable-gains hyperbolic-sine and PD control schemes, was performed by using a three degree-of-freedom, direct-drive robot manipulator.

Ključne riječi

Regulator; Variable Gain; Robot manipulators; Control algorithms

Hrčak ID:

179446

URI

https://hrcak.srce.hr/179446

Datum izdavanja:

25.1.2017.

Podaci na drugim jezicima: hrvatski

Posjeta: 1.017 *