Trajectory tracking control of flexible-joint robots

Date

2000-07-01

Author

Ider, SK
Özgören, Mustafa Kemal

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Inverse dynamics control of flexible-joint robots is addressed. It is shown that, in a flexible-joint robot, the acceleration level inverse dynamic equations are singular because the control torques do not have an instantaneou; effect on the end-effector accelerations due to the elastic media. Implicit numerical integration methods that account for the higher order derivative information are utilized for solving the singular set of differential equations. The trajectory tracking control law presented linearizes and decouples the system and yields an asymptotically stable fourth order error dynamics for each end-effector degree of freedom. A 3R spatial robot with all joints flexible is simulated to illustrate the performance of the proposed algorithm.

Subject Keywords

Robot control, Flexible-joint robots, Inverse dynamics, Trajectory tracking, Discrete time control, Singular differential equations

URI

https://hdl.handle.net/11511/31418

Journal

COMPUTERS & STRUCTURES

DOI

https://doi.org/10.1016/s0045-7949(99)00183-2

Collections

Graduate School of Natural and Applied Sciences, Article

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Citation Formats

S. Ider and M. K. Özgören, “Trajectory tracking control of flexible-joint robots,” COMPUTERS & STRUCTURES, pp. 757–763, 2000, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/31418.