Robust adaptive control of flexible joint robots with joint torque feedback
Robust adaptive control of flexible joint robots with joint torque feedback
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DOI：
10.1109/robot.1995.525448
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发表时间：
1995-05
期刊：
影响因子：
--
通讯作者：
L. Tian;A. Goldenberg
中科院分区：
文献类型：
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作者：
L. Tian;A. Goldenberg
本文利用关节扭矩反馈解决柔性关节机器人操纵器的运动控制问题。针对一般的 n 连杆情况，系统地建立了由运动控制器和关节扭矩控制器组成的两级控制方案。为了处理机器人系统中的不确定性，假设所有系统参数（包括关节灵活性值）除了某些边界之外都是未知的，开发了鲁棒自适应控制算法。利用Lyapunov稳定性理论分析系统稳定性。结果具有明显的特点，即不需要关节灵活性的限制，也不需要精确了解转子子系统的参数。结果是一个有用的框架，用于推广先前为刚性机器人开发的控制方法。仿真结果验证了所提出控制方法的有效性。
This paper addresses motion control issues of flexible joint robot manipulators using joint torque feedback. A two-stage control scheme consisting of a motion controller and a joint torque controller is established in a systematic way for the general n-link case. To deal with uncertainties in the robotic system, a robust adaptive control algorithm is developed assuming that all system parameters including the joint flexibility values are unknown except for some of their bounds. The system stability is analyzed via Lyapunov stability theory. The result has the distinct feature that no restriction of joint flexibility, nor exact knowledge of the parameters of rotor subsystem is required. The outcome is a useful framework for generalization of control methods previously developed for rigid robots. Simulation results verify the effectiveness of the proposed control methods.