Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters

This study presents a linear output-based controller for stabilizing a rigid-link flexible-joint electrically driven (RLFJED) robot manipulator. The proposed controller ensures local exponential stability under some uncertainty conditions. It is assumed that the velocity signals from the link side are not measurable. The controller is analyzed by using tools for pole placement by an output-feedback in the framework of the linear system theory. Some useful structural properties of the systems under consideration have been studied. Applications of the results to the set-point regulation control problem are considered.

[1]  Darren M. Dawson,et al.  An adaptive partial state-feedback controller for RLED robot manipulators , 1996 .

[2]  H. Kimura.  Pole assignment by gain output feedback , 1975 .

[3]  M. Spong.  Modeling and Control of Elastic Joint Robots , 1987 .

[4]  P. Tomei.  A simple PD controller for robots with elastic joints , 1991 .

[5]  Amit Ailon,et al.  Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics , 1997 .

[6]  Romeo Ortega,et al.  Global regulation of flexible joint robots using approximate differentiation , 1994 .

[7]  Amit Ailon.  An approach for set-point regulation of electrically driven flexible-joint robots with uncertain parameters , 1998, Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104).

[8]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[9]  Romeo Ortega,et al.  An observer-based set-point controller for robot manipulators with flexible joints , 1993 .

[10]  Tzyh Jong Tarn,et al.  Effect of motor dynamics on nonlinear feedback robot arm control , 1991, IEEE Trans. Robotics Autom..

[11]  Amit Ailon.  Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models , 1996, Autom..

[12]  Darren M. Dawson,et al.  Adaptive control for a class of direct drive robot manipulators , 1996 .

[13]  Henk Nijmeijer,et al.  Global regulation of robots using only position measurements , 1993 .

[14]  Leonardo Lanari,et al.  Global set point control via link position measurement for flexible joint robots , 1995 .

[15]  Frank L. Lewis,et al.  Control of Robot Manipulators , 1993 .

[16]  R. Ortega,et al.  A semiglobally stable output feedback PI2D regulator for robot manipulators , 1995, IEEE Trans. Autom. Control..