Backstepping impedance control flexible joint manipulators using DSP/FPGA structure

Aiming at the compliant control problem of flexible joint manipulator when it contacts with environment,an impedance control is proposed based on backstepping approach.And the stability of the controller is proven by using Lyapunov stability theory.The approach is on the basis of the model of flexible joint robot manipulator,which combines the choice of a Lyapunov function with the design of controller.The backstepping design technique starts from the differential equation in its smallest order of the system,which designs the satisfied virtual control step by step,then the real controller can be obtained.The experimental results of trajectory tracking and impedance control show the effectiveness and feasibility of the proposed control approach.