Abstract
Common assumption in analysis of a flexible one-link robot is to take account of a DC motor as actuator. This work presents the design and stability analysis of a tracking controller of a flexible-robot including the dynamics of a 3-phase induction motor, despite of its high nonlinear dynamics, to drive the joint of the one-link arm. In this manner, the dynamic model of a joint-flexible-robot is combined with the induction motor model to build the motion equations. A control law is proposed for the flexible one-arm robot to track a desired trajectory, thus, this control input is used like the reference torque for the induction motor control. A stability analysis by Lyapunov criterion is detailed to demonstrate the tracking errors are globally exponentially stable. Simulations show the effectiveness of the proposed approach even when the one-link arm is subjected to uncertainty in parameters and external disturbances.
Highlights
The robot manipulators have been a research interest during last three decades
Induction motors (IM) are an alternative to be used as actuator, because, they offer low cost of manufacturing and high output torque, though their main disadvantage is given by the difficulty to set control, it is caused by their nonlinear dynamics
This document has presented an alternative to drive the flexible robot, that is by means of the induction motor which holds a highly nonlinear dynamics
Summary
The robot manipulators have been a research interest during last three decades. The most of the studies have been based on rigid manipulators, some works point to unreal dynamics of rigid manipulators due to the flexural effects. DC-motors are highly cost because their permanent magnet are built with rare-earth Front of this problematic, induction motors (IM) are an alternative to be used as actuator, because, they offer low cost of manufacturing and high output torque, though their main disadvantage is given by the difficulty to set control, it is caused by their nonlinear dynamics. Induction motors (IM) are an alternative to be used as actuator, because, they offer low cost of manufacturing and high output torque, though their main disadvantage is given by the difficulty to set control, it is caused by their nonlinear dynamics In this sense, researches has been reported on coupling of induction motors and rigid robot manipulators to track a desired trajectory [12], [13], and [14].
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