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On the Robust Nonlinear Motion Position and Force Control of Flexible Joints Robot Manipulators

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Abstract

The design of a robust nonlinear position and force controller for a flexible joints robot manipulator interacting with a rigid environment is presented. The controller is designed using the concept of feedback linearization, sliding mode techniques, and LQE estimation methodologies. It is shown that the nonlinear robot manipulator model is feedback linearizable. A robust performance of the proposed control approach is achieved by accounting for the system parameters uncertainties in the derivation of the nonlinear control law. An upper bound of the error introduced by parametric uncertainties in the system is computed. Then, the feedback linearizing control law is modified by adding a switching action to compensate the errors and to guarantee the achievement of the desired tracking performance. The relationship between the minimum achievable boundary layer thickness and the parametric uncertainties is derived. The proposed controller is tested using an experimental flexible joints robot manipulator, and the results demonstrate its potential benefits in reducing the number of sensors required and the complexity of the design. This is achieved by eliminating the need for nonlinear observers. A robust performance is obtained with minimum control effort by taking into account the effect of system parameter uncertainties and measurement noise.

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Authors and Affiliations

  1. Mechanical Design and Production Department, Cairo University, Giza, Egypt, 12316

    Atef T. Massoud

  2. Intelligent Manufacturing Systems Center, University of Windsor, Ontario, Canada, N9B 3P4

    Hoda A. ElMaraghy

  3. General Motors, VSAS Process Center Warren, MI, 48092

    Tarek Lahdhiri

Authors
  1. Atef T. Massoud
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  2. Hoda A. ElMaraghy
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  3. Tarek Lahdhiri
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Massoud, A.T., ElMaraghy, H.A. & Lahdhiri, T. On the Robust Nonlinear Motion Position and Force Control of Flexible Joints Robot Manipulators. Journal of Intelligent and Robotic Systems 25, 227–254 (1999). https://doi.org/10.1023/A:1008099522350

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  • DOI: https://doi.org/10.1023/A:1008099522350