Skip to main content
SpringerLink
Log in

Robust Linear Control of Flexible Joint Robot Systems

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

This paper presents the development and design of a robust linear controller for a flexible joint robot. First, a realistic model is developed taking into account the effects of stick-slip friction, nonlinear spring force characteristic, the rotors' Coriolis and centrifugal acceleration due to the velocities of the precedent links and rotors, and measurement noise. Second, a robust controller is designed using LQG/LTR techniques. Extensive simulation was performed on an experimental robot system using several trajectories. The results demonstrate that the proposed model/controller provides excellent tracking and regulation performance.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  • Book, W. J.: 1993, Controlled motion in an elastic world, J. Dyn. Systems Measm. Control 115 252–261.

    Google Scholar 

  • Chen, G. R., Malki, H. A., and Feigenspan, D.: 1998, Fuzzy PID control of temperature stabilization and flexible-joint robot arm with time-varying loads, College of Technology, UH, http://129.7.21.70/enl/news33/en33p3.html.

    Google Scholar 

  • Ciuca, F.: 1998, Robust control of flexible joint robot manipulators, M.S. Thesis, University of Windsor.

  • Ciuca, F., Lahdhiri, T., and ElMaraghy, H. A.: 1999, Robust control of flexible joint robot systems, Part A: Modeling, in: Proc. of the American Control Conf., San Diego, CA, June, pp. 699–703.

  • De Wit, C., Noel, P., Aubin, A., and Brogliato, B.: 1991, Adaptive friction compensation in robot manipulators: Low velocities, Internat. J. Robotics Res. 10(3) 189–199.

    Google Scholar 

  • Dupont, P. E.: 1993, The effect of friction on the forward dynamics problem, Internat. J. Robotics Res. 12(2) 164–179.

    Google Scholar 

  • ElMaraghy, W. H., ElMaraghy, H. A., Zaki, A., and Massoud, A.: 1994, A study on the design and control of robot manipulators with flexibilities, in: Proc. of the Symposium on Robot Control, Capri, Italy, September 1994, pp. 495–501.

  • Ghorbel, F. and Spong, M. W.: 1990, Stability analysis of adaptively controlled flexible joint manipulators, in: Proc. of 29th IEEE Conf. on Decision and Control, Honolulu, HI, December, pp. 2538–2544.

  • Good, M. C., Sweet, L. M., and Strobel, K. L.: 1985, Dynamic models for control system design of integrated robot and drive systems, J. Dyn. Systems Measm. Control 107, 53–59.

    Google Scholar 

  • Haessig, D. A., Jr. and Friedland, B.: 1991, On the modeling and simulation of friction, J. Dyn. Systems Measm. Control 113, 354–362.

    Google Scholar 

  • Jankowski, K. P. and ElMaraghy H. A.: 1993, Inverse dynamics control of multiple robot arms with flexible joints, in: Proc. of the IEEE Conf. on Robotics and Automation, Atlanta, GA, May, pp. 996–1003.

  • Lahdhiri, T., Ciuca, F., and ElMaraghy, H. A.: 1999, Robust control of flexible joint robot systems, Part B: Control, in: Proc. of the American Control Conf., San Diego, CA, June, pp. 704–708.

  • Lahdhiri, T. and ElMaraghy, H. A.: 1997, Optimal nonlinear position tracking control of twolink flexible-joint robot manipulator, in: Fifth Internat. Symposium on Experimental Robotics, Barcelona, Spain, June, pp. 407–418.

  • Lin, Y. and Yu, A.: 1996, Linear robust trajectory control of flexible joint manipulators, Robotica 14, 34–41.

    Google Scholar 

  • Maciejowski, J. M.: 1989, Multivariable Feedback Control Design, Addison-Wesley, Ontario.

    Google Scholar 

  • Massoud, A. and ElMaraghy, H. A.: 1992, Motion and force control of flexible joint robot manipulators, PhD Dissertation, University of McMaster.

  • Qu, Z.: 1995, Input-output robust tracking control design for flexible joint robots, IEEE Trans. Automat. Control 40(1), 78–83.

    Google Scholar 

  • Slotine, J.-J. E. and Hong, S.: 1986, Two-time scale sliding control of manipulators with flexible joints, in: Proc. of the American Control Conf., Seattle, pp. 805–810.

  • Spong, M. W.: 1987, Modeling and control of elastic joint robots, J. Dyn. Systems Measm. Control 109, 310–319.

    Google Scholar 

  • Spong, M. W.: 1989, On the force control problem for flexible joint manipulators, IEEE Trans. Automat. Control 34(1), 107–111.

    Google Scholar 

  • Tomei, P.: 1991, A simple PD controller for robots with elastic joints, IEEE Trans. Automat. Control 36(10), 1208–1213.

    Google Scholar 

  • Tomei, P.: 1994, Tracking control of flexible joint robots with uncertain parameters and disturbances, IEEE Trans. Automat. Control 39(5), 1037–1072.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. University of Windsor, Windsor, ON, Canada, N9B 3P4

    Hoda A. ElMaraghy & Frank Ciuca

  2. Intelligent Manufacturing Systems Centre, Electrical Engineering Dept, University of Windsor, Windsor, ON, Canada, N9B 3P4

    Tarek Lahdhiri

Authors
  1. Hoda A. ElMaraghy
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Tarek Lahdhiri
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Frank Ciuca
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

ElMaraghy, H.A., Lahdhiri, T. & Ciuca, F. Robust Linear Control of Flexible Joint Robot Systems. Journal of Intelligent and Robotic Systems 34, 335–356 (2002). https://doi.org/10.1023/A:1019683316155

Download citation

  • Issue Date:

  • DOI: https://doi.org/10.1023/A:1019683316155

Search

Navigation