Output regulation of robot manipulators with a constantly revolving arm

作者：Shang‐Teh Wu, Yi-Chih Chuang · 发表于：IEEE Transactions on Robotics and Automation · 年份：2003 · DOI：10.1109/tra.2003.819599 · 被引用次数：11 · 研究领域：Iterative Learning Control Systems、Dynamics and Control of Mechanical Systems、Control Systems in Engineering

This paper presents analysis and experiment results on regulation of a two-link robot with a constantly revolving arm. The rotating member imposes a harmonic excitation on the system. A control algorithm inspired by passive dynamic vibration absorber is devised to turn the base link to a target position asymptotically. The displacement of the base link is the only state variable required in the feedback loop. Asymptotic stability is proved using a tool based on the center manifold theory. Real-time experiments are conducted to verify the performance of the proposed method.