Control of flexible joint robot system by backstepping design approach

被引：6
作者：
Oh, JH [1 ]
Lee, JS [1 ]
机构：
[1] Pohang Univ Sci & Technol, Dept Elect Engn, Pohang 790784, South Korea
来源：
INTELLIGENT AUTOMATION AND SOFT COMPUTING | 1999年 / 5卷 / 04期
关键词：
flexible joint; cascade control; backstepping; Lyapunov function;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The adaptive backstepping design approach to the control of flexible joint robot manipulators is presented. When the system parameters are known, the backstepping design method is directly applicable to control flexible joint robot manipulators with state feedback. On the other hand, when the system parameters are unknown,the original adaptive backstepping design method requires knowledge of joint accelerations that are prone to noise in order to control flexible joint robot manipulators. In order to overcome the problem, we present an additional robust control law in conjunction with the adaptive backstepping design procedure. Compared with most of the available control schemes for flexible joint robot system that assume weak joint flexibility or knowledge of joint accelerations, the proposed control law guarantees global stability of the robot manipulators with uncertain joint flexibility without recourse to any joint acceleration or jerk measurements.
引用
收藏
页码：267 / 278
页数：12
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