Position control of rotary flexible joint system using adaptive dynamic inversion

2021 ◽  
Author(s):  
Ibrahim M. Mehedi ◽  
Mohd Heidir Mohd Shah
Keyword(s):  
Position Control ◽  
Dynamic Inversion ◽  
Joint System ◽  
Flexible Joint ◽  
Adaptive Dynamic

Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

2021 ◽  
Vol 13 (2) ◽  
Author(s):  
Emmanouil Spyrakos-Papastavridis ◽  
Jian S. Dai
Keyword(s):  
State Feedback ◽  
Position Control ◽  
Impedance Control ◽  
Humanoid Robots ◽  
Flexible Joint ◽  
Model Free ◽  
Floating Base ◽  
Full State ◽  
Full State Feedback ◽  
Series Elastic Actuators

Abstract This paper attempts to address the quandary of flexible-joint humanoid balancing performance augmentation, via the introduction of the Full-State Feedback Variable Impedance Control (FSFVIC), and Model-Free Compliant Floating-base VIC (MCFVIC) schemes. In comparison to rigid-joint humanoid robots, efficient balancing control of compliant bipeds, powered by Series Elastic Actuators (or harmonic drives), requires the design of more sophisticated controllers encapsulating both the motor and underactuated link dynamics. It has been demonstrated that Variable Impedance Control (VIC) can improve robotic interaction performance, albeit by introducing energy-injecting elements that may jeopardize closed-loop stability. To this end, the novel FSFVIC and MCFVIC schemes are proposed, which amalgamate both collocated and non-collocated feedback gains, with power-shaping signals that are capable of preserving the system's stability/passivity during VIC. The FSFVIC and MCFVIC stably modulate the system's collocated state gains to augment balancing performance, in addition to the non-collocated state gains that dictate the position control accuracy. Utilization of arbitrarily low-impedance gains is permitted by both the FSFVIC and MCFVIC schemes propounded herein. An array of experiments involving the COmpliant huMANoid reveals that significant balancing performance amelioration is achievable through online modulation of the full-state feedback gains (VIC), as compared to utilization of invariant impedance control.

scholarly journals Adaptive Dynamic Inversion via Time-Scale Separation

2008 ◽  
Vol 19 (10) ◽  
pp. 1702-1711 ◽  
Author(s):  
N. Hovakimyan ◽  
E. Lavretsky ◽  
Chengyu Cao
Keyword(s):  
Time Scale ◽  
Dynamic Inversion ◽  
Scale Separation ◽  
Adaptive Dynamic ◽  
Time Scale Separation

Proxy based position control for flexible joint robot with link side energy feedback

2019 ◽  
Vol 121 ◽  
pp. 103272 ◽  
Author(s):  
Lei Sun ◽  
Wen Zhao ◽  
Wei Yin ◽  
Ning Sun ◽  
Jingtai Liu
Keyword(s):  
Position Control ◽  
Flexible Joint ◽  
Energy Feedback

scholarly journals Asymptotic Tracking for Aircraft via Robust and Adaptive Dynamic Inversion Methods

2010 ◽  
Vol 18 (6) ◽  
pp. 1448-1456 ◽  
Author(s):  
W. MacKunis ◽  
P. M. Patre ◽  
M. K. Kaiser ◽  
W. E. Dixon
Keyword(s):  
Dynamic Inversion ◽  
Adaptive Dynamic ◽  
Inversion Methods ◽  
Asymptotic Tracking

scholarly journals Fractional Order Linear Active Disturbance Rejection Control for Linear Flexible Joint System

2022 ◽  
Vol 70 (3) ◽  
pp. 5133-5142
Author(s):  
Ibrahim M. Mehedi ◽  
Rachid Mansouri ◽  
Ubaid M. Al-Saggaf ◽  
Ahmed I. M. Iskanderani ◽  
Maamar Bettayeb ◽  
...  
Keyword(s):  
Fractional Order ◽  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Joint System ◽  
Flexible Joint ◽  
Order Linear ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control
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