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Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system

Gusev, Sergey; Paramonov, Leonid; Pchelkin, Stepan; Robertsson, Anders LU ; Freidovich, Leonid and Shiriaev, Anton S. (2016) In Journal of Applied Mathematics and Mechanics 79(6). p.546-555
Abstract
The problem of the orbital stabilization of the forced periodic motions of a non-linear all-wheel drive mechanical system is considered within the framework of a model that is widely used in problems of the planning of the motions and feedback design for industrial robotic manipulators. The basic result is the explicit indication of one of the possible redundant sets of coordinates tranverse to the nominal motion and the derivation of the linearization of their behaviour in an explicit form. The latter enabled
us to validate the original approach in the controller design problem and to analyse the behaviour of the closed system in the neighbourhood of the nominal motion. The analytical results are illustrated by solving the problem of... (More)
The problem of the orbital stabilization of the forced periodic motions of a non-linear all-wheel drive mechanical system is considered within the framework of a model that is widely used in problems of the planning of the motions and feedback design for industrial robotic manipulators. The basic result is the explicit indication of one of the possible redundant sets of coordinates tranverse to the nominal motion and the derivation of the linearization of their behaviour in an explicit form. The latter enabled
us to validate the original approach in the controller design problem and to analyse the behaviour of the closed system in the neighbourhood of the nominal motion. The analytical results are illustrated by solving the problem of stabilizing the motion of the working tool of an industrial ABB IRB140 robotic manipulator that is suboptimal with respect to its high-speed response taking account of the known constraints imposed on the limiting values of the angular velocities of the individual robot components. (Less)
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author
organization
publishing date
type
Contribution to journal
publication status
published
subject
in
Journal of Applied Mathematics and Mechanics
volume
79
issue
6
pages
10 pages
publisher
ScienceDirect, Elsevier
external identifiers
  • scopus:84971255170
ISSN
0021-8928
DOI
10.1016/j.jappmathmech.2016.04.013
language
English
LU publication?
yes
id
fabd23ab-ffc2-4204-9fb9-a86e30279804
date added to LUP
2017-01-23 20:31:40
date last changed
2017-05-03 13:33:29
@article{fabd23ab-ffc2-4204-9fb9-a86e30279804,
  abstract     = {The problem of the orbital stabilization of the forced periodic motions of a non-linear all-wheel drive mechanical system is considered within the framework of a model that is widely used in problems of the planning of the motions and feedback design for industrial robotic manipulators. The basic result is the explicit indication of one of the possible redundant sets of coordinates tranverse to the nominal motion and the derivation of the linearization of their behaviour in an explicit form. The latter enabled<br/>us to validate the original approach in the controller design problem and to analyse the behaviour of the closed system in the neighbourhood of the nominal motion. The analytical results are illustrated by solving the problem of stabilizing the motion of the working tool of an industrial ABB IRB140 robotic manipulator that is suboptimal with respect to its high-speed response taking account of the known constraints imposed on the limiting values of the angular velocities of the individual robot components.},
  author       = {Gusev, Sergey and Paramonov, Leonid and Pchelkin, Stepan and Robertsson, Anders and Freidovich, Leonid and Shiriaev, Anton S.},
  issn         = {0021-8928},
  language     = {eng},
  month        = {05},
  number       = {6},
  pages        = {546--555},
  publisher    = {ScienceDirect, Elsevier},
  series       = {Journal of Applied Mathematics and Mechanics},
  title        = {Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system},
  url          = {http://dx.doi.org/10.1016/j.jappmathmech.2016.04.013},
  volume       = {79},
  year         = {2016},
}