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Robust control of a non-holonomic underactuated SCARA robot

  • Part V Industrial Robot Analysis, Design And Control
  • Conference paper
  • First Online:
Progress in system and robot analysis and control design

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 243))

Abstract

A globally stabilizing and robust position control method for the underactuated SCARA type robot R2D1 was presented. Inclination of the rotating plane of the robot enables investigations with and without graviational influence.

The presented derivation of the non-collocated linearization takes physical parameter perturbations into account. It was shown, that the PD-controlled system can be unstable due to these perturbations. This motivated the introduction of a stability region and an enhanced control strategy, rendering the stability region quasi-invariant. Stability of the enhanced control strategy is shown.

Under the assumption of contractivity, a conservative and robust stability region was determined by an optimization problem solved by a genetic algorithm.

The enhanced control strategy enables the asymptotic stabilization of the unactuated joint with respect to output limitations, physical parameter perturbations and the unstable internal dynamics of the uncontrolled 1st joint. The proposed control strategy may be applied as an emergency control in space robotics, referring to the examples mentioned in the introduction. However, invariant regions in state space for the uncontrolled joints, hence control of nonlinear non-minimum phase systems remains a widely open topic for future research.

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Authors
  1. J. Mareczek
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  2. M. Buss
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  3. G. Schmidt
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Editor information

S. G. Tzafestas PhD G. Schmidt PhD

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© 1999 Springer-Verlag London Limited

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Mareczek, J., Buss, M., Schmidt, G. (1999). Robust control of a non-holonomic underactuated SCARA robot. In: Tzafestas, S.G., Schmidt, G. (eds) Progress in system and robot analysis and control design. Lecture Notes in Control and Information Sciences, vol 243. Springer, London. https://doi.org/10.1007/BFb0110559

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  • DOI: https://doi.org/10.1007/BFb0110559

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-123-8

  • Online ISBN: 978-1-84628-535-6

  • eBook Packages: Springer Book Archive

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