Trajectory Tracking Control of Robot Manipulator Using Flatness Based Approach

被引：0
|
作者：
Bououden, S. [1 ]
Benali, A. [1 ]
Boutat, D. [1 ]
Abdessemed, F. [1 ]
机构：
[1] PRISME ENSI Bourges, 10 Blvd Lahitolle, F-18020 Bourges, France
来源：
MOBILE ROBOTICS-SOLUTIONS AND CHALLENGES | 2010年
关键词：
robot control; flatness; nonlinear systems;
D O I：
10.1142/9789814291279_0124
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A design procedure using flatness based approach for position control of (2DOF) planar robotic manipulators is developed. Our approach is based on two steps. First a nonlinear transformation is made in order to derive two new O-flat normal forms for a class of non-linear systems. Second a dynamic control law is then proposed to achieve stable position tracking for a robot manipulator. Finally, This method is generalized to analysis and control a class of a O-flat affine nonlinear multi-input dynamical systems for which we can build flat outputs to give structural normal fiat forms. The computer simulations a re given in the paper to demonstrate the advantages of the method.
引用
收藏
页码：1015 / 1022
页数：8
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