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

fYear

1990

fDate

4-7 Nov 1990

Firstpage

627

Lastpage

632

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1990. Conference Proceedings., IEEE International Conference on

Conference_Location

Los Angeles, CA

Print_ISBN

0-87942-597-0

Type

conf

DOI

10.1109/ICSMC.1990.142189

Filename

142189