Journal ArticleDOI
Robust control of flexible-joint robots using voltage control strategy
TLDR
In this paper, the authors used voltage control strategy to develop robust tracking control of electrically driven flexible-joint robot manipulators, which is computationally simple, decoupled, well-behaved and has a fast response.Abstract:
So far, control of robot manipulators has frequently been developed based on the torque-control strategy. However, two drawbacks may occur. First, torque-control laws are inherently involved in complexity of the manipulator dynamics characterized by nonlinearity, largeness of model, coupling, uncertainty and joint flexibility. Second, actuator dynamics may be excluded from the controller design. The novelty of this paper is the use of voltage control strategy to develop robust tracking control of electrically driven flexible-joint robot manipulators. In addition, a novel method of uncertainty estimation is introduced to obtain the control law. The proposed control approach has important advantages over the torque-control approaches due to being free of manipulator dynamics. It is computationally simple, decoupled, well-behaved and has a fast response. The control design includes two interior loops; the inner loop controls the motor position and the outer loop controls the joint position. Stability analysis is presented and performance of the control system is evaluated. Effectiveness of the proposed control approach is demonstrated by simulations using a three-joint articulated flexible-joint robot driven by permanent magnet dc motors.read more
Citations
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Journal ArticleDOI
Neural Network Control of a Two-Link Flexible Robotic Manipulator Using Assumed Mode Method
TL;DR: The n-dimensional discretized model of the two-link flexible manipulator is developed by the assumed mode method (AMM) and both full-state feedback control and output feedback control are investigated to achieve the trajectory tracking and vibration suppression.
Journal ArticleDOI
Robust control of electrically driven robots by adaptive fuzzy estimation of uncertainty
TL;DR: In this article, a nonlinear adaptive fuzzy estimation and compensation of uncertainty is proposed to model the uncertainty as a non-linear function of the joint position error and its time derivative, and a comparison between the proposed Nonlinear Adaptive Fuzzy Control and a Robust Nonlinear Control (NAFC) is presented.
Journal ArticleDOI
An optimal and intelligent control strategy for a class of nonlinear systems: adaptive fuzzy sliding mode
TL;DR: In this article, an optimal adaptive fuzzy sliding mode controller is presented for a class of nonlinear systems, in which the boundaries of parametric uncertainties are defined by a Gaussian distribution.
Journal ArticleDOI
Nonlinear control of electrical flexible-joint robots
TL;DR: In this article, a nonlinear tracking control of electrically driven flexible-joint manipulators using the voltage control strategy is proposed, which is based on a simple robust adaptive control under both structured and unstructured uncertainty.
Journal ArticleDOI
Robust control design for rigid-link flexible-joint electrically driven robot subjected to constraint: theory and experimental verification
TL;DR: In this article, a robust Lyapunov-based controller for flexible-joint electrically driven robots considering voltage as control input is proposed, which is free from mechanical subsystem of the actuator dynamics, considered here as unmodeled dynamics.
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Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems
Martin Corless,George Leitmann +1 more
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A simple PD controller for robots with elastic joints
TL;DR: In this paper, the point-to-point control of a manipulator with three revolute elastic joints is considered and it is shown that a simple PD controller, similar to that used for rigid robots, suffices to globally stabilize the elastic joint robots about a reference position.