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Robust control of flexible joint robots

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2 Author(s)
Liang, F. ; Flexible Manuf. Center, McMaster Univ., Hamilton, Ont., Canada ; ElMaraghy, H.A.

A new robust control scheme for general flexible joint robots with possible bounded parametric or structural uncertainty is derived using the pseudo-sliding surface concept. The switching control law derived from a set of approaching laws forces the robotic system tracking error vector to reach and remain on the shrinking superbox defined by a set of pseudo-sliding surfaces. The tracking errors can be proved to be globally and asymptotically convergent. The advantages of this approach are: (1) it is easy to define pseudo-sliding surfaces for the flexible joint robotic systems and to derive the robust control laws; (2) the control actions are chatter-free; (3) the control laws are based on the positions and velocities of the motor and joint angles only, therefore, no acceleration and jerk measurements or estimations are needed; and (4) the uncertainties in robotic system models do not need to satisfy any matching condition. Simulations, performed on a two-link planar manipulator, demonstrated the feasibility of this new scheme

Published in:

Electrical and Computer Engineering, 1993. Canadian Conference on

Date of Conference:

14-17 Sep 1993

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