TY - JOUR
T1 - A study on simple adaptive control of flexible-joint robots considering motor dynamics
AU - Yoo, Sung Jin
AU - Choi, Yoon Ho
AU - Park, Jin Bae
PY - 2008/11
Y1 - 2008/11
N2 - Since the flexible joint robots with motor dynamics are represented by the fifth-order nonlinear system, it is difficult and complex to design the controller for electrically driven flexible-joint (EDFJ) robots. In this paper, we propose a simple adaptive control method to solve this problem. It is assumed that the model uncertainties of the robots dynamics, joint flexibility, and motor dynamics are unknown. For the simple control design, the dynamic surface design method is applied, and all uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. It is proved that all signals in the controlled closed-loop system are uniformly ultimately bounded. Simulation results for three-link EDFJ manipulators are provided to validate the effectiveness of the proposed control system.
AB - Since the flexible joint robots with motor dynamics are represented by the fifth-order nonlinear system, it is difficult and complex to design the controller for electrically driven flexible-joint (EDFJ) robots. In this paper, we propose a simple adaptive control method to solve this problem. It is assumed that the model uncertainties of the robots dynamics, joint flexibility, and motor dynamics are unknown. For the simple control design, the dynamic surface design method is applied, and all uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. It is proved that all signals in the controlled closed-loop system are uniformly ultimately bounded. Simulation results for three-link EDFJ manipulators are provided to validate the effectiveness of the proposed control system.
KW - Adaptive control
KW - Dynamic surface design
KW - Function approximation technique
UR - http://www.scopus.com/inward/record.url?scp=84860526900&partnerID=8YFLogxK
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U2 - 10.5302/J.ICROS.2008.14.11.1103
DO - 10.5302/J.ICROS.2008.14.11.1103
M3 - Article
AN - SCOPUS:84860526900
SN - 1976-5622
VL - 14
SP - 1103
EP - 1109
JO - Journal of Institute of Control, Robotics and Systems
JF - Journal of Institute of Control, Robotics and Systems
IS - 11
ER -