ISSN:
1573-0409
Keywords:
Quadratic half-plane
;
positive quadratic space
;
model and parameter mismatch
;
constraint analysis
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract The stability of the PUMA-560 robot manipulator is investigated under model mismatch using PD and PID controllers. Craig's quadratic half-plane constraint analysis is applied, and conditions are found in terms of calculated position and velocity error upper bounds to guarantee the stability of the robot arm under PD control. The theory is extended to guarantee stability under PID control using the modified positive quadratic space constraint analysis. Dynamic model mismatch is assumed to result from incomplete knowledge of the link masses, centers of mass and radii of gyration. The results indicate stability regions under different percentages of individual and combined parameter mismatch in the model.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF01257821
Permalink
