Robot motion control with induction motors

摘要

The article studies the control of rigid robot manipulators driven by induction motors. The results presented take into account two important aspects: 1) the inclusion of the entire dynamics of the system; 2) the tracking of electrical and mechanical trajectories. A controller based on a state observer is proposed which globally stabilizes the trajectory tracking. This controller gives the possibility of adjusting the motor trajectories according to some optimum criterion.