A Model-Based Control of Flexible-Joint Flexible-Link Robots Based on a V-Shape Lyapunov Function

Mapping Intimacies ◽

10.1115/imece2000-2405 ◽

2000 ◽

Author(s):

Ho-Hoon Lee

Keyword(s):

Computer Simulation ◽

Lyapunov Function ◽

Control Problems ◽

Velocity Control ◽

Flexible Link ◽

Flexible Joint ◽

Model Based Control ◽

Model Based ◽

Link Flexibility ◽

Flexible Link Robots

Abstract This paper proposes a model-based control of flexible-joint flexible-link robots based on a V-shape Lyapunov function. The proposed control solves the control problems of the joint and link flexibility simultaneously and is not restricted by the degree of the flexibility. The proposed control guarantees the global asymptotic stability for the position and velocity control of the links and joints with all internal signals bounded. The effectiveness of the proposed control has been shown by computer simulation.

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Adaptive Control of Flexible-Link Robots Based on a V-Shape Lyapunov Function

10.1115/imece1999-0109 ◽

1999 ◽

Author(s):

Ho-Hoon Lee

Keyword(s):

Adaptive Control ◽

Lyapunov Function ◽

Matching Condition ◽

Robot Dynamics ◽

Flexible Link ◽

Flexible Robot ◽

Model Based Control ◽

New Model ◽

Model Based ◽

Flexible Link Robots

Abstract This paper proposes a new model-based control for flexible-link robots based on Lyapunov stability theorem, where a V-shape Lyapunov function is introduced for the flexible robot dynamics that do not satisfy the so-called matching condition. First, a new model-based nonlinear control is proposed based on a V-shape Lyapunov function, where the global exponential stability of the control is obtained. The model-based control is then extended to a model-based adaptive control to cope with parametric uncertainties in the dynamics, where the global asymptotic stability of the control is attained. The effectiveness of the proposed approach has been shown by computer simulation.

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A nonlinear model-based control of flexible robots

Robotica ◽

10.1017/s0263574700015459 ◽

1993 ◽

Vol 11 (1) ◽

pp. 73-82 ◽

Cited By ~ 25

Author(s):

CM. Pham ◽

W. Khalil ◽

C. Chevallereau

Keyword(s):

Nonlinear Model ◽

Flexible Link ◽

Model Based Control ◽

Elastic Deflection ◽

Model Based ◽

Extensive Evaluation ◽

Experimental Validations ◽

The Stability ◽

Rigid Joints ◽

Flexible Link Robots

SUMMARYThis paper present a nonlinear, model-based control of flexible link robots. The control task is formulated requiring rigid joints variables to track reference time-varying trajectory and elastic deflection to be damped. The stability and robustness properties of the control scheme are analyzed from a passive energy consideration. A direct adaptive version is also proposed. Extensive evaluation of this approach is performed using experimental validations involving a single-flexible-link and a two-flexible-link horizontal robot. Experimental results show significant performances of the controller under relatively severe working conditions: 700% payload to arm ratio and 20% elastic deflection ratio at highest acceleration stages.

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