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Adaptive dynamic hybrid position and force control of flexible joint robot manipulators

  • Section 2 Force Control
  • Conference paper
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Book cover Experimental Robotics III

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 200))

Abstract

An adaptive control approach is presented to control the position and force of flexible joint robot manipulators interacting with rigid environment when the robot parameters are uncertain and an observer is used to estimate the state vector used in the feedback.

A feedback linearizable fourth order model of the flexible joint robot is constructed. Also, a constraint frame is derived which enables decoupling of the system into a position subsystem and a force subsystem.

A model-based and an adaptive control approaches are presented. In the model-based algorithm, the robot parameters are assumed to be known and full state feedback is available using the robot dynamic model. It is shown that a nonlinear feedback control law can be designed which linearizes the system, uses the constraint frame to decouple the system into the position and the force subsystems, and imposes desired closed loop characteristics in each subsystem independently. In the adaptive control algorithm, the robot parameter are uncertain and only link position is available. This control algorithm consists of a nonlinear control law which has the same structure as the one derived for the model-based algorithm except that it uses the estimated parameters and observed state, an adaptation law and, a sliding mode observer. The sufficient conditions under which the closed loop system composed of the flexible joint robot interacting with a rigid environment, the observer, the controller, is stable are presented.

An experimental two link flexible joints robot manipulator constrained by a straight rigid wall is used to evaluate the two control algorithms.

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Author information

Authors and Affiliations

  1. Flexible Manufacturing Centre, Mechanical Engineering Department, McMaster University, L8S 4L7, Hamilton, Ontario, Canada

    Hoda A. ElMaraghy (Professor and Director) & Atef T. Massoud Ph. D. Candidate

Authors
  1. Hoda A. ElMaraghy
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  2. Atef T. Massoud Ph. D. Candidate
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Editor information

Tsuneo Yoshikawa (PhD)Fumio Miyazaki (PhD)

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© 1994 Springer-Verlag London Limited

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ElMaraghy, H.A., Massoud, A.T. (1994). Adaptive dynamic hybrid position and force control of flexible joint robot manipulators. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027587

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  • DOI: https://doi.org/10.1007/BFb0027587

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19905-2

  • Online ISBN: 978-3-540-39355-9

  • eBook Packages: Springer Book Archive

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