Robust control of rigid-link flexible-joint robots with redundant joint actuators

1994 ◽  
Vol 24 (7) ◽  
pp. 961-970 ◽  
Author(s):  
M.M. Bridges ◽  
D.M. Dawson ◽  
Zhihua Qu ◽  
S.C. Martindale
Keyword(s):  
Robust Control ◽  
Flexible Joint ◽  
Rigid Link ◽  
Flexible Joint Robots

scholarly journals Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots

Robotica ◽  
2000 ◽  
Vol 18 (3) ◽  
pp. 325-336 ◽  
Author(s):  
W.E. Dixon ◽  
E. Zergeroglu ◽  
D.M. Dawson ◽  
M.W. Hannan
Keyword(s):  
State Feedback ◽  
Robot Manipulator ◽  
Parametric Uncertainty ◽  
State Feedback Control ◽  
Velocity Measurements ◽  
Linear Filters ◽  
Flexible Joint ◽  
Rigid Link ◽  
Flexible Joint Robots ◽  
Partial State

This paper presents a solution to the global adaptive partial state feedback control problem for rigid-link, flexible-joint (RLFJ) robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring link and actuator position measurements. A nonlinear filter is employed to eliminate the need for link velocity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy is utilized to illustrate global asymptotic link position tracking. An output feedback controller that adapts for parametric uncertainty in the link dynamics of the robot manipulator is presented as an extension. Experimental results are provided as verification of the proposed controller.

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