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On Stability of Virtual Torsion Sensor for Control of Flexible Robotic Joints with Hysteresis

Published online by Cambridge University Press:  24 September 2019

Michael Ruderman Open the ORCID record for Michael Ruderman [Opens in a new window]
Michael Ruderman*
Affiliation:
Faculty of Engineering and Science, University of Agder, Norway
*
*Corresponding author. E-mail: michael.ruderman@uia.no
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Summary

The aim of the virtual torsion sensor (VTS) is to observe the nonlinear deflection in the flexible joints of robotic manipulators and, by its use, improve positioning control of the joint load. This model-based approach utilizes the motor-side sensing only and, therefore, replaces the load-side encoders at nearly zero hardware costs. For being applied in the closed control loop, the stability and robustness of VTS are most crucial. This work extends the previous analysis by a general case of nonlinear joint stiffness with hysteresis and provides straightforward conditions with respect to the system dynamics. The dissipativity and passivity of the torsion-torque hysteresis map are analyzed and discussed in detail. The absolute stability of VTS inclusion into position control loop is shown based on the equivalent loop transformations and Popov criteria, including the sector conditions. Illustrative numerical examples of the control error dynamics and its convergence are provided.

Keywords

Flexible joint robotHysteresisJoint torsionRobot controlVirtual torsion sensorDissipativity
Type
Articles
Information
Robotica , Volume 38 , Issue 7 , July 2020 , pp. 1191 - 1204
Copyright
© Cambridge University Press 2019

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