Adaptive control of mixed rigid/flexible joint robot manipulators based on virtual decomposition

被引：45
作者：
Zhu, WH [1 ]
De Schutter, J
机构：
[1] Univ British Columbia, Dept Elect Engn, Vancouver, BC V6T 1Z4, Canada
[2] Katholieke Univ Leuven, Dept Mech Engn, Div Prod Engn Machine Design & Automat, B-3001 Louvain, Belgium
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1999年 / 15卷 / 02期
关键词：
adaptive control; control of flexible joint robots; Lyapunov stability; robot dynamics; virtual decomposition control;
D O I：
10.1109/70.760352
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A modular approach named virtual decomposition is applied to adaptive control of robot manipulators with mixed rigid/flexible joints. The system is virtually decomposed into the held object, the links, and the rigid/flexible joints. Each subsystem is controlled independently with decentralized parameter adaptation, while the dynamic interactions between the subsystems are completely represented by virtual power hows (VPF's) which are independent of the dynamics of the subsystems. The equivalence between a rigid joint control and a flexible joint control is established, since they dedicate the same dynamic interactions with their connecting links. Each subsystem is assigned a nonnegative accompanying function which takes care of its dynamics. The system Lyapunov function is formed just by considering the VPF's without considering the dynamics of the subsystems. Lyapunov asymptotic stability is guaranteed. Finally, simulation results are presented.
引用
收藏
页码：310 / 317
页数：8
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