A Robotic Manipulator Using Dual-Motor Joints: Prototype Design and Anti-Backlash Control

Xu, Jiqian; Wang, Huaizhen; Zhao, Qiankun; Gao, Yue; Wan, Yingcai; Fang, Lijin

doi:10.1109/lra.2023.3327867

IEEE Robot. Autom. Lett.

2023

DOI: 10.1109/lra.2023.3327867

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A Robotic Manipulator Using Dual-Motor Joints: Prototype Design and Anti-Backlash Control

Jiqian Xu,

Huaizhen Wang,

Qiankun Zhao

et al.

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2024

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Cited by 1 publication

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Observer-Based Finite-Time Prescribed Performance Sliding Mode Control of Dual-Motor Joints-Driven Robotic Manipulators with Uncertainties and Disturbances

Xu,

Fang,

Wang

et al. 2024

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Considering system uncertainties (e.g., gear backlash, unmodeled dynamics, nonlinear friction and parameters perturbation) coupling disturbances weaken the motion performance of robotic systems, an observer-based finite-time prescribed performance sliding mode control with faster reaching law is proposed for robotic manipulators equipped with dual-motor joints (DMJs). In the case where the backlash information is completely unknown, the backlash is maximally eliminated using a simple but efficient dual-motor adaptive anti-backlash strategy. Thus, the design of position tracking controllers for DMJs can be simplified. Then, to deal with the influence of disturbances and residual uncertainties (excluding backlash), a novel finite-time adaptive sliding mode disturbance observer (ASMDO) is proposed to practically estimate the lumped uncertainties where their upper bounds are assumed to be unknown. Finally, a finite-time composite fast non-singular terminal sliding mode (TSM) controller, integrated with the prescribed performance principle, is proposed in this paper. To enhance the convergence rate, a novel TSM-type reaching law has been developed. The controller ensures that the tracking error is not only stabilized within a finite-time convergence rate but also adheres to a predefined maximum transient-steady-state error. The proposed scheme is implemented through simulation and experimental results, demonstrating its superior performance.

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Observer-Based Finite-Time Prescribed Performance Sliding Mode Control of Dual-Motor Joints-Driven Robotic Manipulators with Uncertainties and Disturbances

Xu,

Fang,

Wang

et al. 2024

Actuators

View full text Add to dashboard Cite

show abstract

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A Robotic Manipulator Using Dual-Motor Joints: Prototype Design and Anti-Backlash Control

Cited by 1 publication

References 18 publications

Observer-Based Finite-Time Prescribed Performance Sliding Mode Control of Dual-Motor Joints-Driven Robotic Manipulators with Uncertainties and Disturbances

Observer-Based Finite-Time Prescribed Performance Sliding Mode Control of Dual-Motor Joints-Driven Robotic Manipulators with Uncertainties and Disturbances

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