Algebraic estimation and control of single-link flexible joint robots

Assanimoghaddam, Mehran; Acquatella, B. Paul

doi:10.1109/iros.2017.8205976

Cited by 5 publications

(2 citation statements)

References 17 publications

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“…Several techniques have been developed to overcome the difficulty, such as feedback linearization [2], singular ingestion method [3], and adaptive theory [4]. In order to compensate for the flexibility and other nonlinearities of the robot's joints, accurate dynamics models are needed.…”

Section: Introductionmentioning

confidence: 99%

Intelligent control of flexible joint based on cooperative learning theory

Shi

Jia

2022

J. Phys.: Conf. Ser.

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It is complex and time-consuming for obtaining accurate dynamics of industrial robots. The flexibility of the joint not only increases the adverse effects of nonlinear factors, but also makes the controller design of robot significantly difficult. In order to improve the performance of robots containing joint flexibility, cooperative learning (COL) theory is proposed in this paper. Based on this theory, a model-free intelligent controller is trained and successfully applied to the flexible joints. Compared with the conventional PID controller and RBF controller, the cumulative tracking error produced by the cooperative learning intelligent controller is reduced by 38.25% and 31.08%, respectively, and the robustness is improved in the trajectory tracking experiment and the robustness experiment. The experimental results demonstrate the feasibility and effectiveness of the cooperative learning theory.

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Section: Introductionmentioning

confidence: 99%

Intelligent control of flexible joint based on cooperative learning theory

Shi

Jia

2022

J. Phys.: Conf. Ser.

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“…The control of a robotic arm with a flexible joint is still a challenging topic, and new publications keep popping up. Among very recent papers, in [36], a kind of external linearization is used that requires an arm-mounted accelerometer. Ref.…”

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confidence: 99%

Adaptive Position Control for Two-Mass Drives with Nonlinear Flexible Joints

Jastrzębski,

Kabziński,

Mosiołek

2024

Energies

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We consider a two-mass drive with a flexible joint with a nonlinear characteristic of the transmitted torque as a function of the torsion angle. We propose a new, nonlinear, adaptive position-tracking controller, taking this nonlinearity of stiffness into account. The derivation of the controller is based on nonlinear adaptive control theory, incorporates several non-standard mathematical techniques and provides a proof of the uniform ultimate boundedness of tracking errors. As the result, we present a controller that solves the position tracking problem, attenuates dangerous tortional oscillations in the shaft and operates correctly in the presence of unknown torques acting on both sides of the joint, even if all plant parameters are unknown. We demonstrate experimentally that using some materials indeed introduces a nonlinear characteristic of the joint. We prove via real plant experiments that the proposed control algorithm is easily implementable with a DSP controller in real-world applications.

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