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Nonlinear adaptive motion control for manipulators with compliant joints.

J H Yung¹, L C Fu

¹Dept. of Electr. Eng., Coll. of Technol. & Commerce, PingTung.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society

|February 8, 2008

Summary

This study presents an adaptive control scheme for flexible-joint robotic manipulators, achieving precise link tracking and system stability without needing a full system model. The method ensures all signals remain bounded, demonstrating effectiveness through simulations.

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Area of Science:

Robotics
Control Systems Engineering
Applied Mathematics

Background:

Controlling robotic manipulators with flexible joints presents significant practical and theoretical challenges.
Existing control methods often require strict assumptions about joint stiffness, limiting their applicability.

Purpose of the Study:

To develop an adaptive control scheme for flexible-joint manipulators that addresses full nonlinear dynamics.
To achieve precise control and stability without prior knowledge of the system model.

Main Methods:

An adaptive control law is designed for flexible-joint manipulators.
The control scheme utilizes only position and velocity information from actuators and links.
The approach accounts for the complete nonlinear dynamics of the system.

Main Results:

The proposed control law drives link tracking errors asymptotically to zero.
Uniform boundedness of all signals within the closed-loop system is maintained.
Simulations on a two-link flexible-joint manipulator demonstrate satisfactory performance.

Conclusions:

The developed adaptive control scheme effectively manages flexible-joint robotic manipulators.
The method offers robust performance without requiring a detailed system model, enhancing practical applications.
The approach ensures both accurate tracking and overall system stability.