@Article{cmes.2019.07153,
AUTHOR = {Felipe J. Torres, Gerardo V. Guerrero, Carlos D. García, Ricardo Zavala-Yoe, Mario A. García, Adolfo R. López},
TITLE = {Synchronization of Robot Manipulators Actuated By Induction Motors with Velocity Estimator},
JOURNAL = {Computer Modeling in Engineering \& Sciences},
VOLUME = {121},
YEAR = {2019},
NUMBER = {2},
PAGES = {609--630},
URL = {http://www.techscience.com/CMES/v121n2/36319},
ISSN = {1526-1506},
ABSTRACT = {A complete modeling (including the actuator dynamics) of a robot manipulator
that uses three-phase induction motors is presented in this paper. A control scheme is
designed to synchronize robot manipulators actuated by induction motors under a masterslave
scheme in the case where the joint velocity of the slave robots is estimated. All
of the research on the synchronization of robot manipulators assumes the use of ideal
actuators to drive the joints; for that reason, in this work, a three-phase induction motor
is considered to be a direct-drive actuator for each joint. An entire model of the mated
system is obtained by a combination of the dynamics of the induction motor and robot
manipulator. Thus, the synchronization control algorithm for a master-slave scheme in
both the joint space and workspace of robot manipulators driven by induction motors is
developed. An observer based on the entire model is proposed to estimate the joint velocity
of the slave robot manipulators. Through the Lyapunov criterion, a stability analysis of
the synchronization control with a velocity estimator is detailed. The analytical results
show the synchronization and estimation errors are globally, uniformly, and ultimately
bounded. Simulations with multiple robots demonstrate the performance of the proposed
control algorithm.},
DOI = {10.32604/cmes.2019.07153}
}