Practical Robust Control for Flexible Joint Robot Manipulators

Yeon, Je Sung; Park, Jong Hyeon

doi:10.3182/20080706-5-kr-1001.01993

Cited by 18 publications

(9 citation statements)

References 6 publications

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“…Therefore, there are several researches to compensate the disturbance force added to the systems, modeling error, friction, and so on. For the realization of the robust control system, sliding mode control [5], H∞ theory [4], and a disturbance observer (DOB) [6] have been reported.…”

Section: Introductionmentioning

confidence: 99%

An implementation method of workspace observer considering fluctuation of equivalent mass matrix

Motoi

Kubo

2015

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

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This paper proposes an implementation method of a workspace observer (WOB) considering a Àuctuation of an equivalent mass matrix. WOB is one of useful methods to achieve robust control systems. The stability and transient response of WOB is inÀuenced from a modeling error of a nominal plant model. For a high performance of WOB, a precise modeling of a nominal plant model should be used. From this viewpoint, this paper modi¿es a nominal plant model in real time due to an estimation of an equivalent mass matrix. Here, a nominal plant model includes off-diagonal elements. An equivalent mass matrix is Àuctuated due to a manipulator motion. This Àuctuation is inÀuenced to a control performance of WOB. Therefore, this Àuctuation is compensated in this paper. In addition, a decoupling in an acceleration dimension is actualized, even if a nominal plant model includes off-diagonal elements. The validity of the proposed method was con¿rmed by simulation results.

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Section: Introductionmentioning

confidence: 99%

An implementation method of workspace observer considering fluctuation of equivalent mass matrix

Motoi

Kubo

2015

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

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“…Furthermore, by applying the scheme in combination with a point-to-point interpolating trajectory the actuator efforts are prevented from saturation. Another example is [12], in which a practical robust controller with a simple structure is applied to a 6 DOF flexible joint robot. However, in this application the proposed robust controller is applied on an industrial robot, which has strong actuators and stiff enough joints, therefore the actuators does not encounter any saturation limit in the presented experiments.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy error governor: A practical approach to counter actuator saturation on flexible joint robots

Ozgoli¹,

Taghirad²

2009

Mechatronics

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“…The model of flexible joint manipulator was proposed for the first time in [9]. Since then, many control methods have been applied to improve the tracking performance of the flexible joint manipulator model, such as PID control [10,11], fuzzy control [12,13], sliding mode control [14,15], backstepping control [16,17], robust control [18,19], neural network control [20], and dynamic surface control [21]. For example, in [10], the author designed a PD controller, similar to a rigid robot for a flexible joint robot system, the effectiveness of which was proved by simulation.…”

Section: Introductionmentioning

confidence: 99%

Backstepping control of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints

Wang

Shi

Liu

et al. 2018

Asian Journal of Control

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In this paper, we investigate the trajectory tracking problems of the link angle and angle speed of the flexible joint manipulator model based on external disturbance, the control input and rate constraints. The controller of the flexible joint manipulator model is designed using the backstepping control scheme.To achieve this objective, the smooth hyperbolic tangent function is used to solve the problems of control input and rate constraints, and the stability is proved using Lyapunov function in the design procedure of the backstepping control scheme. Finally, the effectiveness of the proposed backstepping controller is verified by numerical simulation. of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints. Asian J

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Practical Robust Control for Flexible Joint Robot Manipulators

Cited by 18 publications

References 6 publications

An implementation method of workspace observer considering fluctuation of equivalent mass matrix

An implementation method of workspace observer considering fluctuation of equivalent mass matrix

Fuzzy error governor: A practical approach to counter actuator saturation on flexible joint robots

Backstepping control of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints

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