Robust adaptive nonlinear control for robotic manipulators with flexible joints

P. Krishnamurthy, Farshad Khorrami, Z. Wang

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

The robust adaptive control problem for a multi-link robotic manipulator with fl exible joints is considered in this chapter. A general uncertain dynamic model of a robotic manipulator with joint fl exibility is considered including uncertainties in joint stiffness, Coriolis and centrifugal terms, friction, gravity, load torques and disturbances, and actuator inertia. Only the inertia matrix of the rigid links of the robotic manipulator is assumed to be known. A robust adaptive dynamic controller is designed through vector backstepping with adaptations for the joint stiffness matrix, actuator inertia matrix, and a lumped uncertain constant representing the other uncertainties in the system. It is shown that the designed dynamic controller provides global stabilization and practical tracking of reference trajectories specifi ed for each of the joint variables. The effi cacy of the designed dynamic controller is demonstrated through simulation studies on a two-link manipulator with joint fl exibility.

Original languageEnglish (US)
Title of host publicationAdaptive Control for Robotic Manipulators
PublisherCRC Press
Pages317-336
Number of pages20
ISBN (Electronic)9781498764889
ISBN (Print)9781498764872
DOIs
StatePublished - Jan 1 2017

Fingerprint

Manipulators
Robotics
Controllers
Actuators
Backstepping
Stiffness matrix
Dynamic models
Loads (forces)
Gravitation
Torque
Stabilization
Trajectories
Stiffness
Friction
Uncertainty

Keywords

  • Flexible joint
  • Robotic manipulator
  • Robust adaptive control

ASJC Scopus subject areas

  • Engineering(all)
  • Computer Science(all)

Cite this

Krishnamurthy, P., Khorrami, F., & Wang, Z. (2017). Robust adaptive nonlinear control for robotic manipulators with flexible joints. In Adaptive Control for Robotic Manipulators (pp. 317-336). CRC Press. https://doi.org/10.1201/9781315166056

Robust adaptive nonlinear control for robotic manipulators with flexible joints. / Krishnamurthy, P.; Khorrami, Farshad; Wang, Z.

Adaptive Control for Robotic Manipulators. CRC Press, 2017. p. 317-336.

Research output: Chapter in Book/Report/Conference proceedingChapter

Krishnamurthy, P, Khorrami, F & Wang, Z 2017, Robust adaptive nonlinear control for robotic manipulators with flexible joints. in Adaptive Control for Robotic Manipulators. CRC Press, pp. 317-336. https://doi.org/10.1201/9781315166056
Krishnamurthy P, Khorrami F, Wang Z. Robust adaptive nonlinear control for robotic manipulators with flexible joints. In Adaptive Control for Robotic Manipulators. CRC Press. 2017. p. 317-336 https://doi.org/10.1201/9781315166056
Krishnamurthy, P. ; Khorrami, Farshad ; Wang, Z. / Robust adaptive nonlinear control for robotic manipulators with flexible joints. Adaptive Control for Robotic Manipulators. CRC Press, 2017. pp. 317-336
@inbook{85be01cdac9649bf9f3033f3d9b7a8a2,
title = "Robust adaptive nonlinear control for robotic manipulators with flexible joints",
abstract = "The robust adaptive control problem for a multi-link robotic manipulator with fl exible joints is considered in this chapter. A general uncertain dynamic model of a robotic manipulator with joint fl exibility is considered including uncertainties in joint stiffness, Coriolis and centrifugal terms, friction, gravity, load torques and disturbances, and actuator inertia. Only the inertia matrix of the rigid links of the robotic manipulator is assumed to be known. A robust adaptive dynamic controller is designed through vector backstepping with adaptations for the joint stiffness matrix, actuator inertia matrix, and a lumped uncertain constant representing the other uncertainties in the system. It is shown that the designed dynamic controller provides global stabilization and practical tracking of reference trajectories specifi ed for each of the joint variables. The effi cacy of the designed dynamic controller is demonstrated through simulation studies on a two-link manipulator with joint fl exibility.",
keywords = "Flexible joint, Robotic manipulator, Robust adaptive control",
author = "P. Krishnamurthy and Farshad Khorrami and Z. Wang",
year = "2017",
month = "1",
day = "1",
doi = "10.1201/9781315166056",
language = "English (US)",
isbn = "9781498764872",
pages = "317--336",
booktitle = "Adaptive Control for Robotic Manipulators",
publisher = "CRC Press",

}

TY - CHAP

T1 - Robust adaptive nonlinear control for robotic manipulators with flexible joints

AU - Krishnamurthy, P.

AU - Khorrami, Farshad

AU - Wang, Z.

PY - 2017/1/1

Y1 - 2017/1/1

N2 - The robust adaptive control problem for a multi-link robotic manipulator with fl exible joints is considered in this chapter. A general uncertain dynamic model of a robotic manipulator with joint fl exibility is considered including uncertainties in joint stiffness, Coriolis and centrifugal terms, friction, gravity, load torques and disturbances, and actuator inertia. Only the inertia matrix of the rigid links of the robotic manipulator is assumed to be known. A robust adaptive dynamic controller is designed through vector backstepping with adaptations for the joint stiffness matrix, actuator inertia matrix, and a lumped uncertain constant representing the other uncertainties in the system. It is shown that the designed dynamic controller provides global stabilization and practical tracking of reference trajectories specifi ed for each of the joint variables. The effi cacy of the designed dynamic controller is demonstrated through simulation studies on a two-link manipulator with joint fl exibility.

AB - The robust adaptive control problem for a multi-link robotic manipulator with fl exible joints is considered in this chapter. A general uncertain dynamic model of a robotic manipulator with joint fl exibility is considered including uncertainties in joint stiffness, Coriolis and centrifugal terms, friction, gravity, load torques and disturbances, and actuator inertia. Only the inertia matrix of the rigid links of the robotic manipulator is assumed to be known. A robust adaptive dynamic controller is designed through vector backstepping with adaptations for the joint stiffness matrix, actuator inertia matrix, and a lumped uncertain constant representing the other uncertainties in the system. It is shown that the designed dynamic controller provides global stabilization and practical tracking of reference trajectories specifi ed for each of the joint variables. The effi cacy of the designed dynamic controller is demonstrated through simulation studies on a two-link manipulator with joint fl exibility.

KW - Flexible joint

KW - Robotic manipulator

KW - Robust adaptive control

UR - http://www.scopus.com/inward/record.url?scp=85053092648&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85053092648&partnerID=8YFLogxK

U2 - 10.1201/9781315166056

DO - 10.1201/9781315166056

M3 - Chapter

AN - SCOPUS:85053092648

SN - 9781498764872

SP - 317

EP - 336

BT - Adaptive Control for Robotic Manipulators

PB - CRC Press

ER -