J-001

Adaptive Tracking Control for Rigid-Link manipulators with Joint Flexibility

Author: Jung-Hua Yang
Affiliation: Faculty of Engineering, Kinki University

Abstract
In order to simplify the dynamic analysis as well as the subsequent controller design, robots are generally modeled by rigid links with rigid trasmission mechanism. However, the effects of joint elasticity may become significant especially when the payload is heavy or the operation speed is high. In such situation, the control performance will be deteriorated is the joint felxibility is not taken variable structure Lyapunov-based control scheme to circumvent such problems. It only requires the measurements of position and velocity signals of links and motor shafts. Besides, all the system parameters are assumed to be unknown a priori, and the asymptotical stability of the overall system can be concluded by the Lyapunov theory. In the simulation studies, the effectiveness of the proposed control algorithm is also demonstrated.

Jung-Hua Yang
Faculty of Engineering, Kinki University, Taiwan
jhyang@cc.ytjc.edu.tw