A Survey on the Control of Flexible Joint Robots

Ozgoli, Sadjaad; Taghirad, Hamid D.

doi:10.1111/j.1934-6093.2006.tb00285.x

Cited by 141 publications

(77 citation statements)

References 150 publications

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“…Several control strategies [13][14][15] have been proposed for the control of manipulators with joint flexibility based on reduced-order system models derived in separate time-scales using singular perturbation techniques. However, the problems associated with parameter variations have not been addressed in these works.…”

Section: Introductionmentioning

confidence: 99%

Higher Performance Adaptive Control of a Flexible Joint Robot Manipulators

Doghiem¹

2014

IOSRJMCE

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Section: Introductionmentioning

confidence: 99%

Higher Performance Adaptive Control of a Flexible Joint Robot Manipulators

Doghiem¹

2014

IOSRJMCE

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“…The control of robot faces significant difficulties, with regard to such a complicated system, various controllers have been developed [1], such as adaptive controllers [2][3][4], robust controllers [5][6][7] and controllers based on the theory of variable structure [8][9][10][11]. However, the applicability of these controllers to practical robot is limited because the assumption of perfect rigidity is never satisfied exactly.…”

Section: Introductionmentioning

confidence: 99%

Novel Adaptive PID Control of Flexible Joint Robot Manipulator withBounded Disturbances

Doghiem¹

2014

IOSRJEN

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-A novel robust adaptive PID control scheme is proposed with known upper bound of the external disturbances, to solve the dynamic coupling and strong nonlinearity problems in flexible joint robot manipulator control. Invoking the proposed controller, the bounded external disturbances can be compensated and the global asymptotical stability with respect to the manipulator positions and velocities is able to be guaranteed. The designed control law can enlarge the tolerable external disturbances, enhance the accuracy of trajectory tracking error, and improve the dynamic performance of the manipulator systems. The stability and convergence properties of the closed-loop system are analytically proved using Lyapunov stability theory and Barbalat's lemma. Simulation for the proposed control system is performed for a two-degree of freedom flexible joint robot, each joint modeled by two-equations of second order to illustrate its viability, and advantages.

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“…Therefore, frequency analysis of the data using FFT better reveals the dominant frequency of the system in the course of motion. As shown in Figure 4, when EA is multiplied by 10, with a good approximate, the most dominant or the lowest natural frequency is multiplied by p 10. In addition, an increase in the location of the lowest natural frequency decreases the amplitude vibration.…”

Section: Dynamic Response Of the Exible Robotmentioning

confidence: 99%

“…They showed that asymptotic stability of the closed loop system can be guaranteed using a composite control comprising a rigid model based controller and a PD term, proportional to the time derivative of the tension [9]. A survey of the control of exible joint robots is provided in [10], where di erent approaches such as composite control and the concept of integral manifold are compared.…”

Section: Introductionmentioning

confidence: 99%

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

2017

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Abstract. The control of exible cable-driven parallel robots usually requires feedback not only from the joints, but also from the end-e ector pose or cable tension. This paper presents a new approach for reducing the vibration of exible cable-suspended robots, using only the feedback from the joints. First, the dynamic equations of a 6DOF cable-suspended parallel robot with elastic cables were derived by Gibbs-Appel formulation. Subsequently, three di erent control approaches were investigated based on the computational load and required sensors. As a result, a feedback linearization method based on the rigid model of the system was selected. In order to reduce the vibration, a robust input shaping method was employed to prevent excitation of natural modes. Simulation results revealed that the proposed approach leads to a noticeable vibration and settling time reduction in cases of low and high cable sti ness, respectively. Moreover, another simulation compared the presented approach with a composite controller, which used the feedbacks from the end-e ector and actuators. Thereafter, the performance of the approach in vibration reduction was quantitatively shown. Finally, experimental validation of the approach was accomplished by frequency analysis of the vibration obtained from the IMU sensor attached to the ende ector.

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A Survey on the Control of Flexible Joint Robots

Abstract: The robotics literature of the last two decades contains many important advances in the control of flexible joint robots. This is a survey of these advances and an assessment for future developments, concentrated mostly on the control issues of flexible joint robots.

Cited by 141 publications

References 150 publications

Higher Performance Adaptive Control of a Flexible Joint Robot Manipulators

Higher Performance Adaptive Control of a Flexible Joint Robot Manipulators

Novel Adaptive PID Control of Flexible Joint Robot Manipulator withBounded Disturbances

Tracking Control and Vibration Reduction of Flexible Cable-Suspended Parallel Robots using a Robust Input Shaper

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