Design of a robust position feedback tracking controller for flexible-joint robots

IET Control Theory and Applications

Volumn 5, Issue 2, 2011, Pages 351-363

  Chang, Y C ^a   Yen, H M ^a  

^a KUN SHAN UNIVERSITY   (Taiwan)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL ALGORITHMS; EXTERNAL DISTURBANCES; FLEXIBLE JOINTS; POSITION FEEDBACK; REDUCED-ORDER OBSERVERS; ROBOTIC MANIPULATORS; ROBUST TRACKING CONTROL; SIMULATION RESULT; TIME-VARYING PARAMETRIC UNCERTAINTIES; TRACKING CONTROLLER; TRAJECTORY TRACKING ERRORS; VELOCITY SIGNALS;

ALGORITHMS; CLOSED LOOP CONTROL SYSTEMS; FLEXIBLE MANIPULATORS; MACHINE DESIGN; POSITION MEASUREMENT; ROBOTS; SPEECH RECOGNITION; VELOCITY MEASUREMENT;

CONTROLLERS;

EID: 79955538939     PISSN: 17518644     EISSN: 17518652     Source Type: Journal    
DOI: 10.1049/iet-cta.2010.0166     Document Type: Article

References (25)

1. Sweet, L.M., and Good, M.C.: ' Redefinition of the robot motion control problem: effects of plant dynamics, drive system constraints, and user requirements ', Proc. 23rd Conf. on Decision and Control, Las Vegas, Nevada, 1984, p. 724-730
2. Spong, M.W., and Vidyasagar, M.: ' Robot dynamics and control ', (Wiley, New York, 1989)
3. Luca, A.D., and Book, W.: ' Robots with flexible elements ', Siciliano, B., Khatib, 'Springer handbook of robotics' (Springer-Verlag, Berlin Heidelberg, 2008), p. 287-319
4. Ozgoli, S., and Taghirad, H.D.: ' A survey on the control of flexible joint robots ', Asian J. Control, 2006, 8, (4), p. 332-344 10.1111/j.1934-6093. 2006.tb00285.x 1561-8625 (Pubitemid 46342875)
5. Brogliato, B., Ortega, R., and Lozano, R.: ' Global tracking controllers for flexible-joints manipulators: a comparative study ', Automatica, 1995, 31, (7), p. 941-956 10.1016/0005-1098(94)00172-F 0005-1098
6. Ott, C., Albu-Schaffer, A., Kugi, A., and Hirzinger, G.: ' On the passivity-based impedance control of flexible joint robots ', IEEE Trans. Robot., 2008, 24, (2), p. 416-429 10.1109/TRO.2008.915438 1552-3098 (Pubitemid 351586018)
7. Chang, Y.Z., and Daniel, R.W.: ' On the adaptive control of flexible joint robots ', Automatica, 1992, 28, (5), p. 969-974 10.1016/0005-1098(92) 90149-A 0005-1098 (Pubitemid 23560423)
8. Kwan, C.M., and Yeung, K.S.: ' Robust adaptive control of revolute flexible-joint manipulators using sliding technique ', Syst. Control Lett., 1993, 20, (4), p. 279-288 10.1016/0167-6911(93)90004-P 0167-6911 (Pubitemid 23689567)
9. Huang, A.C., and Chen, Y.C.: ' Adaptive sliding control for single-link flexible-joint robot with mismatched uncertainties ', IEEE Trans. Control Syst. Technol., 2004, 12, (5), p. 770-775 10.1109/TCST.2004.826968 1063-6536
10. Luca, A.D., Siciliano, B., and Zollo, L.: ' PD control with on-line gravity compensation for robots with elastic joints: theory and experiments ', Automatica, 2005, 41, (10), p. 1809-1819 10.1016/j.automatica.2005.05.009 0005-1098 (Pubitemid 41119038)
11. Lozano, R., and Brogliato, B.: ' Adaptive control of robot manipulators with flexible joints ', IEEE Trans. Autom. Control, 1992, 37, (2), p. 174-181 10.1109/9.121619 0018-9286
12. Yuan, J., and Stepanenko, Y.: ' Composite adaptive control of flexible joint robots ', Automatica, 1993, 29, (3), p. 609-619 10.1016/0005-1098(93) 90058-2 0005-1098
13. Liu, C., Cheah, C.C., and Slotine, J.J.E.: ' Adaptive task-space regulation of rigid-link flexible-joint robots with uncertain kinematics ', Automatica, 2008, 44, (7), p. 1806-1814 10.1016/j.automatica.2007.10.039 0005-1098
14. Tian, L., Wang, J., and Mao, Z.: ' Constrained motion control of flexible robot manipulators based on recurrent neural networks ', IEEE Trans. Syst. Man. Cybern. B, 2004, 34, (3), p. 1541-1552 10.1109/TSMCB.2004.826400 1083-4419
15. Ruderman, M., Hoffmann, F., and Bertram, T.: ' Modeling and identification of elastic robot joints with hysteresis and backlash ', IEEE Trans. Ind. Electron., 2009, 56, (10), p. 3840-3847 10.1109/TIE.2009.2015752 0278-0046
16. Ghahramani, N.O., and Towhidkhah, F.: ' Constrained incremental predictive controller design for a flexible joint robot ', ISA Trans., 2009, 48, (3), p. 321-326 10.1016/j.isatra.2009.01.010
17. Nicosia, S., and Tomei, P.: ' Robot control by using only joint position measurements ', IEEE Trans. Autom. Control, 1990, 35, (9), p. 1058-1061 10.1109/9.58537 0018-9286
18. Lightcap, C.A., and Banks, S.A.: ' An extended Kalman filter for real-time estimation and control of a rigid-link flexible-joint manipulator ', IEEE Trans. Control Syst. Technol., 2010, 18, (1), p. 91-103 10.1109/TCST.2009.2014959 1063-6536
19. Melhem, K., and Wang, W.: ' Global output tracking control of flexible joint robots via factorization of the manipulator mass matrix ', IEEE Trans. Robot., 2009, 25, (2), p. 428-437 10.1109/TRO.2009.2012016 1552-3098
20. Yoo, S.J., Park, J.B., and Choi, Y.H.: ' Output feedback dynamic surface control of flexible-joint robots ', Int. J. Control Autom. Syst., 2008, 6, (2), p. 223-233 1598-6446 (Pubitemid 351472906)
21. Chatlatanagulchai, W., Nho, H.C., and Meckl, P.H.: ' Robust observer backstepping neural network control of flexible-joint manipulator ', Proc. American Control Conf., Boston, MA, 2004, p. 5250-5255
22. Kim, M.S., and Lee, J.S.: ' Adaptive tracking control of flexible-joint manipulators without overparametrization ', J. Robot. Syst., 2004, 21, (7), p. 369-379 10.1002/rob.20019 0741-2223
23. Chang, Y.C., Chen, B.S., and Lee, T.C.: ' Tracking control of flexible joint manipulators using only position measurements ', Int. J. Control, 1996, 64, (4), p. 567-593 10.1080/00207179608921644 0020-7179
24. Chang, Y.C.: ' Adaptive tracking control for electrically-driven robots without overparametrization ', Int. J. Adapt. Control Signal Process., 2002, 16, (2), p. 123-150 10.1002/acs.677 0890-6327 (Pubitemid 34573476)
25. Khalil, H.K.: ' Nonlinear systems ', 3rd (Prentice-Hall, Upper Saddle River, NJ, 2002)