An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements

1997 ◽  
Vol 27 (3) ◽  
pp. 412-427 ◽  
Author(s):  
Ser Yong Lim ◽  
D.M. Dawson ◽  
Jun Hu ◽  
M.S. de Queiroz
Keyword(s):  
Position Tracking ◽  
Velocity Measurements ◽  
Flexible Joint ◽  
Rigid Link ◽  
Flexible Joint Robots ◽  
Tracking Controller

scholarly journals Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots

Robotica ◽  
2000 ◽  
Vol 18 (3) ◽  
pp. 325-336 ◽  
Author(s):  
W.E. Dixon ◽  
E. Zergeroglu ◽  
D.M. Dawson ◽  
M.W. Hannan
Keyword(s):  
State Feedback ◽  
Robot Manipulator ◽  
Parametric Uncertainty ◽  
State Feedback Control ◽  
Velocity Measurements ◽  
Linear Filters ◽  
Flexible Joint ◽  
Rigid Link ◽  
Flexible Joint Robots ◽  
Partial State

This paper presents a solution to the global adaptive partial state feedback control problem for rigid-link, flexible-joint (RLFJ) robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring link and actuator position measurements. A nonlinear filter is employed to eliminate the need for link velocity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy is utilized to illustrate global asymptotic link position tracking. An output feedback controller that adapts for parametric uncertainty in the link dynamics of the robot manipulator is presented as an extension. Experimental results are provided as verification of the proposed controller.

Model-based control of rigid-link flexible-joint robots: an experimental evaluation

Robotica ◽  
1998 ◽  
Vol 16 (1) ◽  
pp. 11-21 ◽  
Author(s):  
M. S. de Queiroz ◽  
S. Donepudi ◽  
T. Burg ◽  
D. M. Dawson
Keyword(s):  
Experimental Evaluation ◽  
Robot Manipulator ◽  
Position Tracking ◽  
Direct Drive ◽  
Order Model ◽  
Flexible Joint ◽  
Rigid Link ◽  
Model Based ◽  
Flexible Joint Robots ◽  
Position Tracking Control

In this paper, we present an experimental evaluation of several link position tracking control algorithms for rigid-link flexible-joint robot manipulators. To study the performance of the controllers, an IMI 2-link direct-drive planar robot manipulator was modified to approximate linear torsional spring couplings from the actuators to the links. Preliminary experimental results seem to indicate that reduced-order, model-based controllers with an actuator feedback loop provide relatively good link position tracking while a full-order, model-based controller offers some further improvement in link position tracking at the expense of increased computation.

scholarly journals Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation

2010 ◽  
Vol 2010 ◽  
pp. 1-14 ◽  
Author(s):  
Mohammad Ali Badamchizadeh ◽  
Iraj Hassanzadeh ◽  
Mehdi Abedinpour Fallah
Keyword(s):  
Initial Conditions ◽  
Covariance Matrices ◽  
Flexible Joints ◽  
Velocity Measurements ◽  
Lagrange Equations ◽  
Robust Nonlinear Control ◽  
Flexible Joint ◽  
Flexible Joint Robots ◽  
Simulation Results

Robust nonlinear control of flexible-joint robots requires that the link position, velocity, acceleration, and jerk be available. In this paper, we derive the dynamic model of a nonlinear flexible-joint robot based on the governing Euler-Lagrange equations and propose extended and unscented Kalman filters to estimate the link acceleration and jerk from position and velocity measurements. Both observers are designed for the same model and run with the same covariance matrices under the same initial conditions. A five-bar linkage robot with revolute flexible joints is considered as a case study. Simulation results verify the effectiveness of the proposed filters.

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