DocumentCode :
2329670
Title :
Design of a regressor-free adaptive impedance controller for flexible-joint electrically-driven robots
Author :
Huang, An-Chyau ; Chien, Ming-Chih
Author_Institution :
Dept. of Mech. Eng., Nat. Taiwan Univ. of Sci. & Technol., Taipei, Taiwan
fYear :
2009
fDate :
25-27 May 2009
Firstpage :
17
Lastpage :
22
Abstract :
To the best of our knowledge, this is the first paper focus on the adaptive impedance control of robot manipulators with consideration of joint flexibility and actuator dynamics. Controller design for this problem is difficult, because each joint of the robot have to be described by a 5th-order cascade differential equation. In this paper, a backstepping-like procedure incorporating the model reference adaptive control strategy is employed to construct the impedance controller. The function approximation technique (FAT) is applied to estimate time-varying uncertainties in the system dynamics. The proposed control law is free from the calculation of the tedious regressor matrix which is a significant simplification in implementation. Closed-loop stability and boundedness of internal signals are proved by the Lyapunov-like analysis with consideration of the function approximation error. Computer simulation results are presented to demonstrate the usefulness of the proposed scheme.
Keywords :
closed loop systems; control system synthesis; differential equations; function approximation; manipulator dynamics; matrix algebra; model reference adaptive control systems; stability; time-varying systems; uncertain systems; 5th-order cascade differential equation; actuator dynamics; backstepping-like procedure; closed-loop stability; controller design; flexible-joint electrically-driven robots; function approximation; joint flexibility; model reference adaptive control; regressor-free adaptive impedance controller; robot manipulators; system dynamics; tedious regressor matrix; time-varying uncertainties; Actuators; Adaptive control; Differential equations; Function approximation; Impedance; Manipulator dynamics; Programmable control; Robot control; Time varying systems; Uncertainty; Adaptive impedance control; FAT; Flexible joint electrically-driven robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics and Applications, 2009. ICIEA 2009. 4th IEEE Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-2799-4
Electronic_ISBN :
978-1-4244-2800-7
Type :
conf
DOI :
10.1109/ICIEA.2009.5138159
Filename :
5138159
Link To Document :
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