Position control under simultaneous limited torque and speed of a torque-driven nonlinear rotational mechanism. Issue 1 (31st December 2016)

• Record Type: Journal Article
• Authors: Salinas, Adriana; Kelly, Rafael; Moreno-Valenzuela, Javier
• Editors: Lam, James
• Is Part Of: Cogent engineering. Volume 3:Issue 1(2016)
• Publication Date: 2016-12-31
• Subjects: control -- actuators -- mechanism -- bound; Engineering -- Periodicals; Technology -- Periodicals; Engineering; Technology; Periodicals; 620
• DOI: 10.1080/23311916.2016.1192009
• Languages: English
• ISSNs: 2331-1916

Abstract

Abstract : This paper deals with shaft displacement regulation (position control) of a torque-driven nonlinear gravity unbalanced mechanism under both prescribed bounded torque and speed. This is a novel control objective formulation for mechanisms. A nonlinear dynamic controller to resolve this control formulation is proposed. This controller aims to take care of the actuator/plant by keeping them within a safe operating torque–speed zone. An experimental study complements the proposed theory. Potential applications of the proposed approach are in safe control of robots.