Hostname: page-component-78c5997874-m6dg7 Total loading time: 0 Render date: 2024-11-19T18:02:51.419Z Has data issue: false hasContentIssue false
  • English
  • Français

Linear robust trajectory control of flexible joint manipulators

Published online by Cambridge University Press:  09 March 2009

Yueh-Jaw Lin  and
Aiping Yu
Yueh-Jaw Lin
Affiliation:
Department of Mechanical Engineering, The University of Akron, Akron, Ohio 44325 (USA)
Aiping Yu
Affiliation:
Department of Mechanical Engineering, The University of Akron, Akron, Ohio 44325 (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a practical approach for the point-to-point control of elastic-jointed robot manipulators. With the proposed approach only position and velocity feedback are referenced, as opposed to most of the existing control schemes of elastic-jointed manipulators which require additional acceleration and/or jerk feedback. To guarantee the robustness of the controller, it is designed on extreme parameter uncertainties due to highly elastic joints of manipulators and energy motivated Lyapunov functions are used to derive the control law. Four pertinent controller gains are chosen in light of the on-line position and velocity feedback of the links and joint sensors. Through a simulated experimental verification, it is demonstrated that the designed simple position and velocity feedback controller, similar to that used for rigid-jointed robots, can globally stabilize the elastic-jointed robot for a bounded reference position. In addition, the tracking performance of the controller reveals that this simple control algorithm is robust in terms of joint flexibility. And the simplicity of the presented control algorithm, as compared to other model-based techniques for flexiblejoint robots, is particularly advantageous. Even though the simulated experiments are conducted on a single-link flexible joint robot, control law derived in this paper has general meaning for multi-link flexible joint robots.

Keywords

Trajectory controlFlexible jointsLyapunov functionsSingle-link robot
Type
Article
Information
Robotica , Volume 14 , Issue 4 , July 1996 , pp. 375 - 380
Copyright
Copyright © Cambridge University Press 1996

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Spong, M.W.. “Modeling and Control of Elastic Joint Robots”. Transactions of the ASME. 109, 310–319 (12. 1987).Google Scholar
Ghorbel, F., Hung, J.Y. and Spong, M.W.. “Adaptive Control of Flexible Joint Manipulators”. IEEE Control Systems Magazine. 9, 9–13 (1989).CrossRefGoogle Scholar
Sweet, L.M. and Good, M.C.. “Re-definition of the Robot Motion Control Problem: Effect of Plant Control”. Proc. IEEE Conf. Decision and Control, Las Vegas. NV (1984) pp. 1209–1213.Google Scholar
Tomei, P.A Simple PD Controller for Robots with Elastic Joints. IEEE Transactions on Automatic Control 36, No. 10. 1208–1213 (1991).CrossRefGoogle Scholar
Berger, R.M. and Elmaraghy, H.A.. “Feedback Linearization Control of Flexible Joint Robots” Robotics – Computer-Integrated Manufacturing 9, No. 3. 239–246 (1992).CrossRefGoogle Scholar
Nicosia, P. and Tomei, P. “On the Feedback Linearization of Robots with Elastic Joints”. Proc. of the 27th ConferenceOn Decision and Control.Austin.Texas(1988) pp. 180–185.Google Scholar
Bortoff, S.A. and Spong, M.W.. “Feedback Linearization of Flexible Joint Robot Manipulators.” Proc. of the 29th Conferenceon Decision and Control.Los Angeles. CA(1987) pp. 1357–1362.Google Scholar
Ghorbel, F. and Spong, M.W.. “Adaptive Integral Manifold Control of Flexible Joint Robots with Configuration Invariant Inertia. Proc. American Control Conference(1992) pp. 3314–3318.Google Scholar
Spong., M.W.Khorasani, K. and Kokotovic, P.W.. ”An Integral Manifold Approach to the Feedback Control of Flexible Joint Robots”. IEEE J. Robotics and Automation 3,291–300(1987).CrossRefGoogle Scholar
Nicosia, P. and Tomei, P. “A New Approach to Control Elastic Joints Robots with Application to Adaptive Control.” Proc. of the 30th Conferenceon Decision and Control“.Brighton.England(Dec. 1991) pp. 343–347.Google Scholar
Chang, Y.Z. and Daniel, R.W.. “On the Adaptive Control of Flexible Joint Robots”. Automatica. 28, No. 5. 969–974 (1992).CrossRefGoogle Scholar
Chen, K.P. and Fu, L.C.. “Nonlinear Adaptive Motion Control for a Manipulator with Flexible Joints”. IEEE Int. Conf. on Robots and Automation (1989) pp. 1201–1206.Google Scholar
Kwan, CM. and Yeung, K.S.. “Robust Adaptive Control of Revolute Flexible-joint Manipulators using Slide Technique” System and Control Letters 20, 279–288 (1993).CrossRefGoogle Scholar
Lozano, R. and Brogliato, B. “Adaptive Control of Robot Manipulators with Flexible Joints';” IEEE Transactions on Automatic Control 37, No. 2. 174–181 (1992).CrossRefGoogle Scholar
Spong, M.W.. “Adaptive Control of Flexible Joint Manipulators” System Control Letters 13, 15–21 (1989).CrossRefGoogle Scholar
Mrad, F.T. and Ahmad, ś. “Adaptive Control of Flexible Joint Robots Using Position and Velocity Feedback” Int. J. Control 55, No. 5. 1255–1277 (1992).CrossRefGoogle Scholar
Mrad, F. and Ahmad, S. “Control of Flexible Joint Robots” Robotics and Computer-Integrated Manufacturing 9, No. 2. 137–144(1992).CrossRefGoogle Scholar
Luca, A.D.. “Dynamic Control of Robots with Joint Elasticity” IEEE Int. Conf. on Robots and Automation(1988) pp. 152–158.Google Scholar
Wellstead, P.E.. Introduction to Physical Modeling (Academic Press. London. 1979).Google Scholar
Slotine, J.E. and Li, W. “Adaptive Manipulator Control: a Case Study.” IEEE Trans. Automatic Control. 33, 995–1003(1988).CrossRefGoogle Scholar
Craig, J.J.. Adaptive Control of Mechanical Manipulators (Addison-Wesley. Reading. MA. 1989).Google Scholar