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Adaptive Compliance Control of Flexible Link Manipulator in Unknown Environment

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Intelligent Robotics and Applications (ICIRA 2022)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13457))

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Abstract

The present work proposes an Adaptive Compliant Control scheme based on a closed-form output-redefined and perturbed dynamic model of a Single-link Flexible Manipulator (SLFM) in Unknown Environment. The control scheme is composed of inner and outer controllers. The inner control is designed based on Two-Time Scale Adaptive Robust Control (TTARC) to ensure fast and precise motion control, while the outer control is based on the impedance dynamics aiming to offer a desired compliant behavior in constrained motion. External force is estimated based on the extended Kalman Filter (EKF). The stability of the closed-loop system is verified through Lyapunov theory. The effectiveness of the overall control scheme is verified through simulation.

This work was supported by the National Natural Science Foundation of China (Nos 51675471 and 51375432) and Science Fund for Creative Research Groups of National Natural Science Foundation of China (No. 51821093), and also supported by the Fundamental Research Funds for the Central Universities (2019QNA4002).

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Author information

Authors and Affiliations

  1. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China

    Cianyi Yannick & Xiaocong Zhu

  2. School of Mechanical Engineering, Hefei University of Technology, Hefei, 230009, China

    Jian Cao

Authors
  1. Cianyi Yannick
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  2. Xiaocong Zhu
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  3. Jian Cao
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Corresponding author

Correspondence to Xiaocong Zhu .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Harbin, China

    Honghai Liu

  2. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  3. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  4. Harbin Institute of Technology, Harbin, China

    Li Jiang

  5. Shanghai Jiao Tong University, Shanghai, China

    Guoying Gu

  6. Shenzhen Institutes of Advanced Technology, Shenzhen, China

    Xinyu Wu

  7. Harbin Institute of Technology, Harbin, China

    Weihong Ren

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Yannick, C., Zhu, X., Cao, J. (2022). Adaptive Compliance Control of Flexible Link Manipulator in Unknown Environment. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_70

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  • DOI: https://doi.org/10.1007/978-3-031-13835-5_70

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-13834-8

  • Online ISBN: 978-3-031-13835-5

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