Experimental evaluation of link position tracking controllers for rigid-link flexible-joint robots

2002 ◽  
Author(s):  
M.S. de Queiroz ◽  
S. Donepudi ◽  
T. Burg ◽  
D.M. Dawson
Keyword(s):  
Experimental Evaluation ◽  
Position Tracking ◽  
Flexible Joint ◽  
Rigid Link ◽  
Flexible Joint Robots ◽  
Tracking Controllers

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 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.

Operational Space Prescribed Tracking Performance and Compliance in Flexible Joint Robots

2015 ◽  
Vol 137 (7) ◽  
Author(s):  
Abdelrahem Atawnih ◽  
Zoe Doulgeri ◽  
George A. Rovithakis
Keyword(s):  
Degrees Of Freedom ◽  
Position Tracking ◽  
Admittance Control ◽  
Flexible Joint ◽  
Flexible Joint Robots ◽  
Operational Space ◽  
Control Scheme ◽  
Simulation Results ◽  
Flexible Joint Manipulator ◽  
Three Degrees Of Freedom

In this work, an admittance control scheme is proposed utilizing a highly robust prescribed performance position tracking controller for flexible joint robots which is designed at the operational space. The proposed control scheme achieves the desired impedance to the external contact force as well as superior position tracking in free motion without any robot model knowledge, as opposed to the torque based impedance controllers. Comparative simulation results on a three degrees-of-freedom (3DOF) flexible joint manipulator, illustrate the efficiency of the approach.

Robust control of rigid-link flexible-joint robots with redundant joint actuators

1994 ◽  
Vol 24 (7) ◽  
pp. 961-970 ◽  
Author(s):  
M.M. Bridges ◽  
D.M. Dawson ◽  
Zhihua Qu ◽  
S.C. Martindale
Keyword(s):  
Robust Control ◽  
Flexible Joint ◽  
Rigid Link ◽  
Flexible Joint Robots
Sign in / Sign up

Export Citation Format

Share Document