Position and force tracking control of rigid-link electrically driven robots actuated by switched reluctance motors

Abstract

Abstract In this paper, we design a tracking controller for rigid-link electrically driven (RLED) robot manipulators actuated by switched reluctance (SR) motors operating under constrained and unconstrained conditions. Using models of the robot dynamics and environmental constraints, a reduced-order dynamic model is obtained for the mechanical subsystem with respect to a set of constraint variables. A tracking control is then formulated for the reduced-order manipulator dynamics and the SR motor dynamics. The control assumes exact model knowledge and requires measurement of the robot link positions, link velocities and motor currents. The proposed controller yields global exponential stability (GES) for the position, velocity and force tracking errors on and off a rigid, frictionless constraint surface.