An active damping control of robot manipulators with oscillatory bases by singular perturbation approach

摘要: This paper deals with active damping control problems of robot manipulators oscillatory bases. A first investigation two-time scale fuzzy logic controller vibration stabilizer for such structures has been proposed, where the dynamics a robotic system is strongly affected by disturbances due to base oscillation. Under assumption scale, its stability and design procedures are presented multiple link manipulator dimension The fast-subsystem will damp out bases using PD method. Hence, slow-subsystem dominates trajectory tracking. It can be guaranteed internal adding boundary-layer correction based on singular perturbations approach. Experimental results have shown that proposed model offers several implementation advantages as reduced effect overshoot chattering, smaller steady state error, fast convergent rate. this study feasible various mechanical systems, mobile robot, gantry cranes, underwater other dynamic systems mounted