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Adaptive control of robot manipulators including actuator dynamics and without joint torque measurement

Salimi Khaligh, Y ; Sharif University of Technology | 2010

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  1. Type of Document: Article
  2. DOI: 10.1109/ROBOT.2010.5509255
  3. Publisher: 2010
  4. Abstract:
  5. Ignoring actuator dynamics in control of rigid manipulators can in practice result in performance degradation or loss of system stability. However, consideration of actuator dynamics usually requires measurement of robot joint torques. This paper addresses motion tracking control of an n-DOF rigid robot by taking into account its actuator dynamics. Joint torque measurement is avoided by using an adaptive observer. The backstepping technique is adopted to develop a dynamically smooth adaptive nonlinear controller dealing with uncertainties in manipulator and actuator dynamics. Semi-global convergence of motion tracking errors as well as torque estimation error are proven without any persistency of excitation condition. Simulation examples demonstrate low noise sensitivity of the proposed method in comparison with those using torque measurement
  6. Keywords:
  7. Actuator dynamics ; Adaptive Control ; Adaptive nonlinear controllers ; Adaptive observer ; Backstepping technique ; In-control ; Low noise ; Motion tracking ; Motion tracking control ; Performance degradation ; Persistency of excitation ; Rigid manipulators ; Rigid robots ; Robot joint ; Robot manipulator ; Semi-global ; Simulation example ; Torque estimation ; Actuators ; Control system stability ; Dynamics ; Manipulators ; Robot applications ; Robots ; System stability ; Torque ; Torque measurement ; Robotics
  8. Source: 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, 3 May 2010 through 7 May 2010 ; 2010 , Pages 4639-4644 ; 10504729 (ISSN) ; 9781424450381 (ISBN)
  9. URL: http://ieeexplore.ieee.org/document/5509255