Nonlinear H infinity control of multiple joint robot driven by ultrasonic motors

作者：Sun Zhijun^*; Xing Rentao; Huang Weiqing

来源：China Mechanical Engineering, 2008, 19(19): 2283-2286+2309.

A three-joint robot was directly driven by ultrasonic motors with advantage of high torque at low speed. On the one hand, ultrasonic motors were driven by the frictional force between rotor and stator, on the other hand, it was almost impossible to identify all the dynamic parameters appearing in the equations of motion of the robot, so there were frictional disturbances and dynamic disturbances due to the parametric uncertainties in the robot control. To solve the problem, a robust nonlinear H infinity control system with the induced L2-gain attenuation was designed. Experimental results show the robot has achieved good positional resolution as well as smooth operation. Finally, a robust experiment shows the controller has a strong performance of anti-disturbances.

• 出版日期2008