Robust controls for flexible joint robots: a single link case study with unknown joint stiffness parameter

Author

Aoustin, Y.

Author_Institution

Lab. d´´Automatique, Nantes Univ., France

fYear

1993

fDate

17-20 Oct 1993

Firstpage

45

Abstract

We study the problem of a single flexible joint robot with an unknown parameter: the joint stiffness which is difficult to determine in experimentation. The controller must take into account the resonance phenomenon that induces oscillations at the load side. We present three control laws that have robustness properties. The first two control laws, H_∞ and H₂ are obtained by minimization of a transfer function norm from an extended plant. The third one is based on the pole placement by using only four parameters : a control horizon and a filter horizon, and two damping factors. The three control laws are robust since they guarantee tracking performance and accuracy in the presence of high uncertainties including unknown joint elasticity, and external output perturbation rejection

Keywords

H^∞ control; damping; pole assignment; robots; robust control; transfer functions; vibration control; H_∞ control; H₂ control; control horizon; damping factors; filter horizon; flexible joint robots; induces oscillations; joint elasticity; joint stiffness; minimization; perturbation rejection; pole placement; resonance phenomenon; robust controls; robustness; transfer function norm; Computer aided software engineering; Equations; Gears; Hydrogen; Resonance; Robust control; Service robots; Shafts; State feedback; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on

Conference_Location

Le Touquet

Print_ISBN

0-7803-0911-1

Type

conf

DOI

10.1109/ICSMC.1993.390681

Filename

390681