Singular Perturbation Control for Flexible-joint Manipulator Based on Flexibility Compensation
LIU Ye-chao1, JIN Ming-he1, LIU Hong1,2
1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; 2. Institute of Robotics and Mechatronics, German Aerospace Center, Munich 82230, Germany
刘业超, 金明河, 刘宏. 柔性关节机器人基于柔性补偿的奇异摄动控制[J]. 机器人, 2008, 30(5): 460-466..
LIU Ye-chao, JIN Ming-he, LIU Hong. Singular Perturbation Control for Flexible-joint Manipulator Based on Flexibility Compensation. ROBOT, 2008, 30(5): 460-466..
Abstract：Traditional singular perturbation apprbach can only be used in robot systems with weak joint flexibility.In order to solve this problem,a joint flexibility compensator is designed,which can greatly increase the equivalent joint stiff- ness,so the limitation of joint flexibility for singular perturbation approach is eliminated and the approach can be extended to the robot system with normal joint flexibility.Besides,an adaptive controller with projection algorithm as parameter estimation law is designed for the slow subsystem control and its asymptotical stability is proved.The control strategy can be applied conveniently in engineering without any joint flexibility limitation and does not need link acceleration or its differential signal.Finally,an experimental study on the flexible joint manipulator is executed and the results verify the validity and feasibility of the proposed strategy.
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