Title :
Adaptive control of flexible joint manipulators
Author :
Al-Ashoor, R.A. ; Khorasani, K. ; Patel, R.V. ; Al-Khalili, A.J.
Author_Institution :
Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
Abstract :
A reduced-order flexible joint model that based on a singular perturbation formulation of the manipulator equations of motion is constructed. The concept of an integral manifold is utilized to construct the dynamics of a slow subsystem. A fast subsystem is constructed to represent the fast dynamics of the elastic forces at the joints. A composite control scheme featuring online identification of the manipulator parameters is developed. It takes into account the effect of certain unmodeled dynamics and parameter variations. Stability analysis of the resulting closed-loop full-order system is presented. Numerical simulation results for a single-link flexible-joint manipulator are given to illustrate the applicability of the proposed algorithm
Keywords :
adaptive control; closed loop systems; dynamics; identification; perturbation techniques; robots; stability; adaptive control; closed-loop full-order system; composite control; dynamics; flexible joint manipulators; integral manifold; online identification; robots; singular perturbation; stability; Actuators; Adaptive control; Algorithm design and analysis; Elasticity; Integral equations; Manipulator dynamics; Nonlinear dynamical systems; Reduced order systems; Robot control; Sliding mode control;
Conference_Titel :
Systems, Man and Cybernetics, 1990. Conference Proceedings., IEEE International Conference on
Conference_Location :
Los Angeles, CA
Print_ISBN :
0-87942-597-0
DOI :
10.1109/ICSMC.1990.142189
