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Adaptive impedance controller design for flexible-joint electrically-driven robots without computation of the regressor matrix

Published online by Cambridge University Press:  11 May 2011

Ming-Chih Chien  and
An-Chyau Huang
Ming-Chih Chien
Affiliation:
Mechanical and Systems Research Laboratories, Industrial Technology Research Institute, No. 195, Sec. 4, Chung-Hsing Rd., Chutung, Hsinchu 31040, Taiwan, R.O.C.
An-Chyau Huang*
Affiliation:
Department of Mechanical Engineering, National Taiwan University of Science and Technology, No. 43, Keelung Rd., Sec. 4, Taipei 10607, Taiwan, R.O.C.
*
*Corresponding author. E-mail: achuang@mail.ntust.edu.tw
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Summary

To the best of our knowledge, this is the first paper focus on the adaptive impedance control of robot manipulators with consideration of joint flexibility and actuator dynamics. Controller design for this problem is difficult because each joint of the robot has to be described by a fifth-order cascade differential equation. In this paper, a backstepping-like procedure incorporating the model reference adaptive control strategy is employed to construct the impedance controller. The function approximation technique is applied to estimate time-varying uncertainties in the system dynamics. The proposed control law is free from the calculation of the tedious regressor matrix, which is a significant simplification in implementation. Closed-loop stability and boundedness of internal signals are proved by the Lyapunov-like analysis with consideration of the function approximation error. Computer simulation results are presented to demonstrate the usefulness of the proposed scheme.

Keywords

Adaptive impedance controlFlexible-joint electrically driven robotFAT
Type
Articles
Information
Robotica , Volume 30 , Issue 1 , January 2012 , pp. 133 - 144
Copyright
Copyright © Cambridge University Press 2011

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