Title :
Prescribed performance tracking for flexible joint robots with unknown dynamics and elasticity
Author :
Kostarigka, Artemis K. ; Doulgeri, Zoe ; Rovithakis, George A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Aristotle Univ. of Thessaloniki, Thessaloniki, Greece
Abstract :
In this paper a novel type of tracking controller for flexible joint robots is proposed. Joint elasticity is considered unknown and may be time varying. Robot and motor dynamics are also considered unknown. The controller guarantees link position performance specifications that have been a-priori set utilizing full state feedback. Simulation on a two link flexible joint robot validate the efficiency of the proposed control approach.
Keywords :
elasticity; flexible manipulators; manipulator dynamics; position control; state feedback; flexible joint robot; link position performance specification; motor dynamics; prescribed performance control; robot dynamics; state feedback; time varying elasticity; tracking controller; unknown dynamics; Convergence; Elasticity; Joints; Robots; State feedback; Steady-state; Trajectory; Flexible joint robots; prescribed performance control; unknown system; variable stiffness;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224642
