Robust Control of Flexible Joint Robot Manipulator

Author

Patel, Aditya ; Neelgund, Rohan ; Wathore, Archana ; Kolhe, Jaywant P. ; Kuber, M.M. ; Talole, S.E.

Author_Institution

AISSMS´´s Coll. of Eng., Pune

fYear

2006

fDate

15-17 Dec. 2006

Firstpage

649

Lastpage

653

Abstract

A feedback linearization based control is employed for the rigid link model of a robot having joint flexibility and the effect of joint flexibility is treated as a disturbance. A novel Uncertainty and Disturbance Estimator (UDE) is then used to estimate the disturbance to robustify the feedback linearizing controller. As only motor side variables are used in controller, the number of sensors are reduced. To demonstrate the effectiveness of the design, numerical simulations are carried out by considering parametric uncertainties and joint flexibility and the results are presented.

Keywords

feedback; flexible manipulators; linearisation techniques; numerical analysis; position control; robust control; feedback linearization based control; feedback linearizing controller; flexible joint robot manipulator; joint flexibility; rigid link model; robust control; sensors; uncertainty and disturbance estimator; Adaptive control; DC motors; Elasticity; Equations; Linear feedback control systems; Manipulator dynamics; Motion control; Robot sensing systems; Robust control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 2006. ICIT 2006. IEEE International Conference on

Conference_Location

Mumbai

Print_ISBN

1-4244-0726-5

Electronic_ISBN

1-4244-0726-5

Type

conf

DOI

10.1109/ICIT.2006.372236

Filename

4237558