工业机器人操纵器的平面控制外文.pdfVIP

Robotics and Autonomous Systems 87 (2017) 226–236 Contents lists available at ScienceDirect Robotics and Autonomous Systems journal homepage: /locate/robot Flat control of industrial robotic manipulators Elisha D. Markus a, *, John T. Agee b , Adisa A. Jimoh c a Department of Electrical, Electronic and Computer Systems, Central University of Technology, Free State, South Africa b Department of Electrical Engineering, University of Kwazulunatal, Durban, South Africa c Department of Electrical Engineering, Tshwane University of Technology, Pretoria, South Africa h i g h l i g h t s • Computational burden of high order robotic control significantly reduced. • Computation of flat output for 6-DOF robotic manipulator presented. • Comparison between PID and Flatness based control of ABB IRB140 robot provided. • Tracking control of 6-DOF ABB IRB140 robot in Joint space and Task space presented. a r t i c l e i n f o a b s t r a c t Article history: A new approach to tracking control of industrial robot manipulators is presented in this paper. The highly Received 11 April 2015 coupled nonlinear dynamics of a six degrees of freedom (6-DOF) serial robot is decoupled by expressing Received in revised form 13 September its variables as a function of a flat output and a finite number of its derivatives. Hence the derivation of the 2016 flat output for the 6-DOF robot is presented. With the flat output, trajectories for each of the generalized Accepted 6 October 2016 Available online 24 October 2016 coordinates are easily design