Title :
Robust control of flexible joint robots
Author :
Liang, F. ; ElMaraghy, H.A.
Author_Institution :
Flexible Manuf. Center, McMaster Univ., Hamilton, Ont., Canada
Abstract :
A new robust control scheme for general flexible joint robots with possible bounded parametric or structural uncertainty is derived using the pseudo-sliding surface concept. The switching control law derived from a set of approaching laws forces the robotic system tracking error vector to reach and remain on the shrinking superbox defined by a set of pseudo-sliding surfaces. The tracking errors can be proved to be globally and asymptotically convergent. The advantages of this approach are: (1) it is easy to define pseudo-sliding surfaces for the flexible joint robotic systems and to derive the robust control laws; (2) the control actions are chatter-free; (3) the control laws are based on the positions and velocities of the motor and joint angles only, therefore, no acceleration and jerk measurements or estimations are needed; and (4) the uncertainties in robotic system models do not need to satisfy any matching condition. Simulations, performed on a two-link planar manipulator, demonstrated the feasibility of this new scheme
Keywords :
convergence; robots; switching; tracking; approaching laws; asymptotic convergence; bounded parametric uncertainty; chatter-free control actions; flexible joint robots; global convergence; joint angles; model uncertainties; motor positions; motor velocities; pseudo-sliding surfaces; robotic system tracking error vector; robust control scheme; shrinking superbox; simulations; structural uncertainty; switching control law; two-link planar manipulator; Acceleration; Accelerometers; Control systems; Error correction; Force control; Position measurement; Robots; Robust control; Uncertainty; Velocity control;
Conference_Titel :
Electrical and Computer Engineering, 1993. Canadian Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2416-1
DOI :
10.1109/CCECE.1993.332219
