Stability evaluation of the PUMA-560 robot arm under model mismatch

Thomas Larsson; K. Perev; Kimon P. Valavanis; S. Gardner

doi:10.1117/12.25422

1 February 1991 Stability evaluation of the PUMA-560 robot arm under model mismatch

Thomas Larsson, K. Perev, Kimon P. Valavanis, S. Gardner

Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991) https://doi.org/10.1117/12.25422
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

This paper summarizes the stability of the PUMA - 560 robot manipulator under dynamic model mismatch resulting from incomplete knowledge of the link masses centers of mass and radii of gyration. PD and PID controllers are used. PAPER SUMMARY Model based control of robotic manipulators eliminates the nonlinearities in the manipulator equations under perfect knowledge of dynamic model parameters. When this is the case the manipulator model matches completely the real robot arm. However robot manipulators are in general extremely complicated to even approximately model. Moreover to keep the system model within practical and acceptable limits one has to accept (and control) unmodeled dynamics. Model mismatch may also result from incomplete knowledge of manipulator hardware parameters. This paper summarizes the stability of the PUMA - 560 manipulator under model mismatch using PD and PID controllers. Craig''s method [3] is directly applied when a PD controller is used. However it is also extended and modified to incorporate PID controllers [12]. The PUMA-560 robot arm has been selected because of our knowledge related to its real-time behavior [6 7 10 11]. All desired trajectories are achievable in real-time do not violate arm speed acceleration structural and hardware limits and have been repeatedly tested and used for real-time control of the PUMA robot arm. A software package (robot simulation package) has been built on top of the original software given to us by Dr.

Citation Download Citation

Thomas Larsson, K. Perev, Kimon P. Valavanis, and S. Gardner "Stability evaluation of the PUMA-560 robot arm under model mismatch", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); https://doi.org/10.1117/12.25422

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