Intelligent control of flexible-joint manipulator based on singular perturbation

Shao, Zhiyu; Zhang, Xiaodong

doi:10.1109/ical.2010.5585287

Cited by 5 publications

(1 citation statement)

References 14 publications

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“…Singular perturbation approach is one of the promising approaches to control the real-world lightweight robots, which solves the control problem in two time scalars: a fast joint torque control (often in form of a damping) term for the fast mode of the joint torque dynamics, and a slow joint torque feedforward term for the outer position control loop (related to the rigid-body dynamics of the robot arm) [8]. More about the research works of singular perturbation approach for flexible-joint robots can be found in [9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Cascaded Control of Flexible-Joint Robots Based on Sliding-Mode Estimator Approach

Xiong

Shi²,

Chen

2020

Journal of Robotics

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The inherent highly nonlinear coupling and system uncertainties make the controller design for a flexible-joint robot extremely difficult. The goal of the control of any robotic system is to achieve high bandwidth, high accuracy of trajectory tracking, and high robustness, whereby the high bandwidth for flexible-joint robot is the most challenging issue. This paper is dedicated to design such a link position controller with high bandwidth based on sliding-mode technique. Then, two control approaches ((1) extended-regular-form approach and (2) the cascaded control structure based on the sliding-mode estimator approach) are presented for the link position tracking control of flexible-joint robot, considering the dynamics of AC-motors in robot joints, and compared with the singular perturbation approach. These two-link position controllers are tested and verified by the simulation studies with different reference trajectories and under different joint stiffness.

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Section: Introductionmentioning

confidence: 99%