Precise slow motion control of a direct-drive robot arm with velocity estimation and friction compensation

Liu, G; Goldenberg, A.A.; Zhang, Y

doi:10.1016/j.mechatronics.2004.03.002

Cited by 75 publications

(31 citation statements)

References 15 publications

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“…, by referring to the investigation, 33 one can define it as a function with regard to the position and velocity of the ith joint, which is given as follows…”

Section: May Exist In Terms Ofmentioning

confidence: 99%

Decentralized control for harmonic drive–based modular and reconfigurable robots with uncertain environment contact

Dong

Liu

2017

Advances in Mechanical Engineering

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In this article, a decentralized control strategy is presented for harmonic drive-based modular and reconfigurable robots with uncertain environment contact. Unlike conventional methods that rely on robot-environment contact model or force/torque sensing, this article addresses the problem of controlling modular and reconfigurable robots in contact with uncertain environment using only encoder data of each joint module. By employing a control-oriented harmonic drive model, the dynamic model of modular and reconfigurable robot is formulated as a synthesis of interconnected subsystems, in which the interconnected joint couplings are with small magnitudes. Based on the integral sliding mode control technique and the adaptive super-twisting algorithm, the decentralized controller is designed to compensate model uncertainty in which the up-bound is unknown. The stability of the modular and reconfigurable robot system is proved using Lyapunov theory. Finally, simulations are conducted for 2-degree-of-freedom modular and reconfigurable robots with different configurations under the situations of dynamic contact and collision to investigate the advantage of the proposed approach.

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“…, by referring to the investigation, 33 one can define it as a function with regard to the position and velocity of the ith joint, which is given as follows…”

Section: May Exist In Terms Ofmentioning

confidence: 99%

Decentralized control for harmonic drive–based modular and reconfigurable robots with uncertain environment contact

Dong

Liu

2017

Advances in Mechanical Engineering

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“…Then, the estimation error of the friction state variable is given from Eq. (10) and (14) as follows:…”

Section: Lugre Friction Modelmentioning

confidence: 99%

Robust adaptive deadzone and friction compensation of robot manipulator using RWCMAC network

et al. 2011

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A robust adaptive compensation scheme is presented for compensation of asymmetric deadzone, dynamic friction and uncertainty in the direct-drive robot manipulator. Simple estimation laws are derived to build observers for estimation of deadzone and friction based on the LuGre friction model. A model-free RWCMAC controller to mimic the ideal control law is employed to overcome some shortcomings of the traditional model-based adaptive controller, which requires information on the robots dynamics in advance. The Lyapunov stability analysis yields the adaptive laws of the RWCMAC network as well as observers of deadzone and friction. Furthermore, the stability and optimal convergence speed of the learning rates of the RWCMAC is also guaranteed by employing the fully informed particle swarm (FIPS) algorithm. Robust tracking performance of the proposed control schemes is verified by simulations of direct-drive robots with deadzone in joint input torque, joint dynamic friction and uncertainty.

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“…Since the motor does not have any sensor to measure the joint velocity, it has to be estimated from the encoder measurement. Different estimators have been proposed for precise estimation of the velocity, which can be found, for example, in [35] and [36]. Herein, we obtain an approximate differentiation of the position measurement by using the causal filter s/(σs + 1), where σ 1; we select σ = 0.05 s in our application.…”

Section: ) Control Designmentioning

confidence: 99%

A Modular and High-Precision Motion Control System With an Integrated Motor

Aghili¹,

Hollerbach

Buehler

2007

IEEE/ASME Trans. Mechatron.

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Abstract-This paper describes the design and control of an integrated direct-drive joint suitable for applications that require a high-precision motion control system. The joint integrates a directdrive synchronous motor with axial air gap, a torque sensor, and a high-resolution position sensor. The key design aspects of the integrated joint, like the motor's armature, cooling system, motor housing, bearing arrangement, sensors, and power electronics are detailed. We also present a number of advanced implementations in motor torque control, optimal joint torque sensory feedback, and motion control using positive joint torque feedback. Experimental results illustrate an outstanding performance regarding thermal response, torque ripple, reference trajectory tracking, torque disturbance rejection, and joint stiffness.

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Precise slow motion control of a direct-drive robot arm with velocity estimation and friction compensation

Cited by 75 publications

References 15 publications

Decentralized control for harmonic drive–based modular and reconfigurable robots with uncertain environment contact

Decentralized control for harmonic drive–based modular and reconfigurable robots with uncertain environment contact

Robust adaptive deadzone and friction compensation of robot manipulator using RWCMAC network

A Modular and High-Precision Motion Control System With an Integrated Motor

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