V-02
Global Adaptive Partial State Feedback Tracking Control of Rigid-Link
Flexible-Joint Robots
Authors: W. E. Dixon, E. Zergeroglu, D. M. Dawson, and M. W. Hannan
Affiliate: Clemson University
Abstract
Due to the elastic nature in which some gearing mechanisms (i.e., harmonic drives,
belts, long shafts, etc.) transmit torque to the robot links, it is a widely accepted
fact that the inclusion of joint flexibility in the dynamics for robot manipulators
yields a more accurate model. In addition, the model for a rigid-link flexible-joint
(RLFJ) robot includes uncertain parameters (i.e., inertia, friction, and stiffness
effects); hence, controllers that can account for the parametric uncertainty seem
highly desirable. Furthermore, from an implementation point of view, it is desirable
that controllers be designed to require fewer measurements (i.e., due to the increased
cost, complexity, and/or noise that additional sensors add to the system). In this
video, we demonstrate how an experimental test bed was constructed to enhance the
flexibility of the robot link/actuator joint and then was utilized to experimentally
validate a global adaptive partial-state feedback tracking controller. The experimental
results showcase the fact that despite considerable flexibility in the joints, link
position tracking control was maintained with a relatively high degree of precision.
Warren Dixon
Doctoral Student
Department of Electrical and Computer Engineering
312 EIB, Clemson University
Clemson SC 29634
wdixon@eng.clemson.edu
Office (864) 656-7218
Fax (864) 656-7218
http://ece.clemson.edu/crb/students/wdixon/index.htm