Convex polytopic modeling for flexible joints industrial robot using TP-model transformation
作者： Jian Chen , Ruifeng Li , Chuqing Cao
DOI: 10.1109/ICINFA.2014.6932803
关键词: Control theory 、 Robot kinematics 、 Nonlinear system 、 Mathematics 、 Eigenvalues and eigenvectors 、 Tensor product 、 Tensor (intrinsic definition) 、 Industrial robot 、 LTI system theory 、 Singular value decomposition
摘要: This paper presents a method for converting nonlinear flexible joint robot system into linear convex polytopic model by using the tensor product (TP) transformation. The link position and velocity information was taken as variable parameters, dynamic equation of equidistant partitioned stored in within parameter range. Then, tensor's singular values corresponding eigenvector were computed high order value decomposition. weighting functions constructed with resulting eigenvectors, then finite vertex LTI obtained. simulation results show that can accurately represents dynamics modeling approach is foundation designing multi-model robust controller based on LMIs robot.
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