Decoupling control of three-dimensional drive in robot

Shenghua Huang; Guangjie Fu

doi:10.1117/12.228640

18 December 1995 Decoupling control of three-dimensional drive in robot

Shenghua Huang, Guangjie Fu

Proceedings Volume 2593, Microrobotics and Micromechanical Systems; (1995) https://doi.org/10.1117/12.228640
Event: Photonics East '95, 1995, Philadelphia, PA, United States

Abstract

Spherical motor, in principle, can make 3D rotation, with the advantages of small volume, less transmission chains and flexibly-controlled so as to be used for the drive in robot joints. This paper establishes a mechanics model of 3D drive of spherical motor with Lagrangian energy method. The result displays that there are serious nonlinear coupling torques among the shafts when the motor make 3D rotation. It further studies the method that rebuilds equivalent coupling torques with the help of spatial state detector, and decoupling control tactics to realize robot's 3D drive by means of feed forward, etc. It also gives a tactics of decoupling control in order to real-time implement this theory, and computer-aided numerical results of the entirely decoupling control, simplified decoupling control and undecoupling control are presented and compared. The results of simulation and sample machine's experiments are given to present this mathematics model and the decoupling control tactics are available and feasible.

Citation Download Citation

Shenghua Huang and Guangjie Fu "Decoupling control of three-dimensional drive in robot", Proc. SPIE 2593, Microrobotics and Micromechanical Systems, (18 December 1995); https://doi.org/10.1117/12.228640

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