Saturated proportional derivative control of flexible-joint manipulators

Caverly, Ryan James; Zlotnik, David Evan; Bridgeman, Leila Jasmine; Forbes, James Richard

doi:10.1016/j.rcim.2014.06.001

Cited by 20 publications

(21 citation statements)

References 24 publications

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“…The dynamic models for flexible joints above are primarily based on the Lagrangian formulation, and the corresponding control methods present inherent defects in computation [12], [13]. Zhu [14] reported that the computation of the control algorithm based on the Lagrangian high-order dynamic model was proportional to the fourth power of the degree-of-freedom (DOF) of the robot.…”

Section: Introductionmentioning

confidence: 99%

Virtual Decomposition Based Modeling for Multi-DOF Manipulator With Flexible Joint

et al. 2019

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This paper discusses a problem that has plagued researchers for a long time regarding the dynamic modeling of a multiple degree-of-freedom (multi-DOF) manipulator such that its manipulation exhibits a higher computational efficiency and accuracy. Unknown friction, unknown gravitational torque, an uncertain moment of inertia, and severe joint coupling are the primary disturbing factors in multi-DOF manipulator modeling. In addition, joint flexible problems caused by the integration of harmonic drives increase the modeling complexity. Hitherto, no effective method has been found to address these problems. The virtual decomposition (VD)-based method exhibits the advantages of joint dynamics decoupling and minor computation compared with the traditional Lagrangian formulation or Newton-Euler formulation. In this study, an estimation method for the deformation-related torque of harmonic drives is established based on a novel experimental model; subsequently, this method is utilized in the VD-based model for the multi-DOF manipulator. Hence, the decoupling dynamic model for the manipulator considering joint flexibility is established. The performance of this new method has been evaluated by a contrast simulation with the Newton-Euler formulation, and the multi-DOF manipulator control simulation and experiment have been conducted with a VD-based model as a feedforward compensator to verify its performance in real-time control. The results demonstrated the validity and efficiency of e proposed approach.

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Section: Introductionmentioning

confidence: 99%

Virtual Decomposition Based Modeling for Multi-DOF Manipulator With Flexible Joint

et al. 2019

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“…In [2] considers the PD-Type control of a single-link flexible-joint manipulator subject to actuator saturation; it is shown that equilibrium point of the closed-loop system is asymptotically stable, simulation results are presented only. A saturated control for a class second-order, nonlinear systems is developed in [8], it yields asymptotic stability.…”

Section: Introductionmentioning

confidence: 99%

A family of hyperbolic-type control schemes for robot manipulators

Reyes-Cortés¹,

Felix-Beltran²,

Cid-Monjaraz³

et al. 2019

Kybernetika

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“…Several proportional derivative controllers are designed in [16], all of them cope with the effects of actuator saturation by guaranteeing that the applied torque is less than a specified maximum value. Adaptive radial basis function neural networks are used to implement an adaptive controller that approximates the unknown nonlinearities with a priori consideration of actuator saturation effects [17]. Reference [18] proposes a controller design methodology for attitude stabilization of spacecrafts under actuator saturation and partial loss of 978-1-4799-7800-7/15/$31.00 ©2015 IEEE control effectiveness.…”

Section: Introductionmentioning

confidence: 99%

A time efficient nonlinear tracking controller

Shafiq

Yousef

Al-Saadi

2015

2015 IEEE International Conference on Industrial Technology (ICIT)

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This article proposes a time efficient set-point tracking controller. The proposed controller synthesizes smooth control input within the input saturation limits of a class of second order nonlinear continuous time plants. The Lyapunov function based analysis assures the global asymptotic stability of the closedloop and the convergence of the set-point tracking error to zero. The computer simulation and laboratory scale experimental results are included in the paper to verify the theoretical findings.

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Saturated proportional derivative control of flexible-joint manipulators

Cited by 20 publications

References 24 publications

Virtual Decomposition Based Modeling for Multi-DOF Manipulator With Flexible Joint

Virtual Decomposition Based Modeling for Multi-DOF Manipulator With Flexible Joint

A family of hyperbolic-type control schemes for robot manipulators

A time efficient nonlinear tracking controller

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