Adaptive friction compensation in trajectory tracking control of DLR medical robots with elastic joints

Author

Le-Tien, Luc ; Albu-Schäffer, Alin

Author_Institution

Robot. & Mechatron. Center, German Aerosp. Center (DLR), Wessling, Germany

fYear

2012

fDate

7-12 Oct. 2012

Firstpage

1149

Lastpage

1154

Abstract

In this paper we introduce an adaptive control scheme for robots with elastic joints (in particular for the DLR medical robot) in order to increase the positioning accuracy and the performance of control with respect to uncertainties of the parameters of the robot dynamics. In order to design control and analyze system stability a static friction model is applied which describes Coulomb, viscose and load dependent friction. A stability analysis is done for this adaptive control scheme, allowing a Lyapunov based convergence analysis in the context of the nonlinear robot dynamics. Experimental results validate the practical efficiency of the approach.

Keywords

Lyapunov methods; adaptive control; control system synthesis; elasticity; friction; medical robotics; nonlinear dynamical systems; robot dynamics; stability; trajectory control; DLR medical robots; Lyapunov based convergence analysis; adaptive control scheme; adaptive friction compensation; control design; elastic joints; nonlinear robot dynamics; positioning accuracy; robot dynamics; static friction model; system stability; trajectory tracking control; Adaptation models; Adaptive control; Friction; Joints; Medical robotics; Torque; Adaptive control; adaptive friction compensation; flexible joint robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on

Conference_Location

Vilamoura

ISSN

2153-0858

Print_ISBN

978-1-4673-1737-5

Type

conf

DOI

10.1109/IROS.2012.6385609

Filename

6385609