Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has “explosion of terms” problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control (DSC) technique can resolve the “explosion of terms” problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF (degree of freedom) flexible joint robot. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully as depicted theoretically.

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

[2]  Bruno Siciliano,et al.  Modeling and Control of Robot Manipulators , 1995 .

[3]  Jianbin Huang,et al.  Adaptive Cartesian Impedance Control System for Flexible Joint robot by using DSP/FPGA Architecture , 2008, Int. J. Robotics Autom..

[4]  Alin Albu-Schäffer,et al.  Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[5]  Alin Albu-Schäffer,et al.  Decoupling based Cartesian impedance control of flexible joint robots , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[6]  Alin Albu-Schäffer,et al.  Cartesian impedance control techniques for torque controlled light-weight robots , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[7]  P. P. Yip,et al.  Adaptive dynamic surface control : a simplified algorithm for adaptive backstepping control of nonlinear systems , 1998 .

[8]  Jianbin Huang,et al.  DSP/FPGA-based Controller Architecture for Flexible Joint Robot with Enhanced Impedance Performance , 2008, J. Intell. Robotic Syst..

[9]  Jin Bae Park,et al.  Adaptive Dynamic Surface Control of Flexible-Joint Robots Using Self-Recurrent Wavelet Neural Networks , 2006, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[10]  Vincent D. Blondel,et al.  Proceedings of the 2000 American Control Conference , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[11]  Liu Hong,et al.  Adaptive Impedance-controlled Manipulator Based on Collision Detection , 2009 .

[12]  W. Chatlatanagulchai,et al.  Motion control of two-link flexible-joint robot, using backstepping, neural networks, and indirect method , 2005, Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005..

[13]  Hiroaki Kobayashi,et al.  A new impedance control concept for elastic joint robots , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[14]  Gang Feng,et al.  A combined backstepping and small-gain approach to robust adaptive fuzzy control for strict-feedback nonlinear systems , 2004, IEEE Trans. Syst. Man Cybern. Part A.

[15]  Hong Liu,et al.  An Experimental Study on Cartesian Impedance Control for a Joint Torque-Based Manipulator , 2008, Adv. Robotics.

[16]  Jin S. Lee,et al.  Adaptive tracking control of flexible-joint manipulators without overparametrization , 2004 .

[17]  W. Chatlatanagulchai,et al.  Backstepping high-order differential neural network control of flexible-joint manipulator , 2005, Proceedings of the 2005, American Control Conference, 2005..

[18]  Ilya V. Kolmanovsky,et al.  Predictive energy management of a power-split hybrid electric vehicle , 2009, 2009 American Control Conference.

[19]  Max Q.-H. Meng,et al.  CMAC adaptive control of flexible-joint robots using backstepping with tuning functions , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[20]  An-Chyau Huang,et al.  Regressor-free adaptive impedance control of flexible-joint robots using FAT , 2006, 2006 American Control Conference.

[21]  An-Chyau Huang,et al.  Adaptive sliding control for single-link flexible-joint robot with mismatched uncertainties , 2004, IEEE Trans. Control. Syst. Technol..

[22]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part I—Theory , 1985 .

[23]  Alin Albu-Schäffer,et al.  On the Passivity-Based Impedance Control of Flexible Joint Robots , 2008, IEEE Transactions on Robotics.

[24]  J. C. Gerdes,et al.  Dynamic surface control of nonlinear systems , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[25]  Paolo Rocco,et al.  Impedance control for elastic joints industrial manipulators , 2004, IEEE Transactions on Robotics and Automation.

[26]  Thomas B. Sheridan,et al.  Robust compliant motion for manipulators, part I: The fundamental concepts of compliant motion , 1986, IEEE J. Robotics Autom..

[27]  Alin Albu-Schäffer,et al.  A passivity based Cartesian impedance controller for flexible joint robots - part I: torque feedback and gravity compensation , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[28]  Alin Albu-Schäffer,et al.  A passivity based Cartesian impedance controller for flexible joint robots - part II: full state feedback, impedance design and experiments , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[29]  W. Chatlatanagulchai,et al.  Robust observer backstepping neural network control of flexible-joint manipulator , 2004, Proceedings of the 2004 American Control Conference.

[30]  Thomas B. Sheridan,et al.  Robust compliant motion for manipulators, part II: Design method , 1986, IEEE J. Robotics Autom..