Nonparametric identification and control of flexible joint robot manipulator

Author

Sasiadek, Jerzy Z. ; Green, Anthony ; Ulrich, Steve ; Krzyzak, Adam

Author_Institution

Dept. of Mech. & Aerosp. Eng., Carleton Univ., Ottawa, ON, Canada

fYear

2014

fDate

2-5 Sept. 2014

Firstpage

221

Lastpage

228

Abstract

We discuss nonadaptive and adaptive control strategies for tracking the end effector of a flexible robot with collocated and noncollocated sensors attached at the end effector and 0.5m from the elbow joint. Collocated joint sensors satisfy hyperstability conditions but are unable to capture nonminimum phase (NMP) response which is achieved by noncollocated sensors. Nonadaptive control with collocated and noncollocated sensors results in poor tracking, but adaptive control leads to excellent tracking regardless of sensor location. Nonparametric identification procedure for the flexible robot is also presented and its convergence is discussed.

Keywords

adaptive control; end effectors; flexible manipulators; sensors; stability; NMP response; adaptive control strategy; collocated joint sensors; convergence; elbow joint; end effector tracking; flexible joint robot manipulator control; flexible robot; hyperstability conditions; nonadaptive control strategy; noncollocated sensor; nonminimum phase response; nonparametric identification; sensor location; End effectors; Joints; Mathematical model; Robot kinematics; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On

Conference_Location

Miedzyzdroje

Print_ISBN

978-1-4799-5082-9

Type

conf

DOI

10.1109/MMAR.2014.6957355

Filename

6957355