Control of flexible joint robots

Abstract In this paper we describe a switching control scheme for flexible joint robots which does not use link jerk or acceleration feedback. Our control scheme does not require the numerical differentiation of the velocity signal or the inversion of the inertial matrices. Simulations are presented to verify the validity of the control scheme and its superiority over existing rigid robot controllers when applied to flexible joint robots with extremely flexible joints.

[1]  Riccardo Marino,et al.  Nonlinear control techniques for flexible joint manipulators: A single link case study , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[2]  Petar V. Kokotovic,et al.  An integral manifold approach to the feedback control of flexible joint robots , 1987, IEEE J. Robotics Autom..

[3]  Alessandro De Luca.  Dynamic control of robots with joint elasticity , 1988, ICRA.

[4]  K. Khorasani.  Nonlinear feedback control of flexible joint manipulators: a single link case study , 1990 .

[5]  Daniel E. Koditschek.  Lyapunov Analysis of Robot Motion , 1987 .

[6]  Mark W. Spong,et al.  Invariant manifolds and their application to robot manipulators with flexible joints , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[7]  Michel Fliess,et al.  Nonlinear control theory and differential algebra , 1988 .

[8]  Giuseppe Conte,et al.  Un Théorème sur la Représentation Entrée-Sortie d'un Système Non Linéaire , 1988 .

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

[10]  Romeo Ortega,et al.  Adaptive motion control of rigid robots: a tutorial , 1988, Proceedings of the 27th IEEE Conference on Decision and Control.

[11]  P. Kokotovic,et al.  Feedback linearization of a flexible manipulator near its rigid body manifold , 1985 .

[12]  Shaheen Ahmad,et al.  Dynamical feedback control of robotic manipulators with joint flexibility , 1992, IEEE Trans. Syst. Man Cybern..

[13]  Mark W. Spong,et al.  Control of Flexible Joint Robots: A Survey , 1990 .

[14]  Jean-Jacques E. Slotine,et al.  Adaptive manipulator control: A case study , 1988 .

[15]  Martin Corless,et al.  Control of uncertain mechanical systems with robustness in the presence of unmodelled flexibilities , 1989 .

[16]  Alberto Isidori,et al.  An Application of Nonlinear Model Matching to the Dynamic Control of Robot Arm with Elastic Joints , 1985 .

[17]  Mark W. Spong,et al.  Comments on "Adaptive manipulator control: a case study" by J. Slotine and W. Li , 1990 .

[18]  R. Paul.  Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .

[19]  F. Mrad,et al.  Adaptive control of flexible joint robots with stability in the sense of Lyapunov , 1990, 29th IEEE Conference on Decision and Control.

[20]  Eugene I. Rivin.  Effective Rigidity of Robot Structures: Analysis and Enhancement , 1985, 1985 American Control Conference.

[21]  Fathi H. Ghorbel,et al.  Adaptive control of flexible-joint manipulators , 1989, IEEE Control Systems Magazine.