# Force and motion trajectory tracking control of flexible joint robots

2000-03-01
Ider, SK
An inverse dynamics control algorithm for constrained flexible-joint robots is developed. 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 instantaneous effect on the end-effector contact forces and 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. Joint structural damping is also included to the model. The control law proposed achieves simultaneous and asymptotically stable trajectory tracking control of the end-effector contact forces and the motion along the constraint surfaces. A 3R spatial robot with all joints flexible is simulated to illustrate the performance of the method.
MECHANISM AND MACHINE THEORY

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 Inverse dynamics control of constrained robots in the presence of joint flexibility Ider, SK (Elsevier BV, 1999-07-29) An inverse dynamics control algorithm for constrained flexible-joint robots is developed. It is shown that in a flexible-joint robot, the acceleration level inverse dynamic equations are singular because of 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 control law proposed linearizes and decouples the system and achieves simultaneous and asymptotically stable trajecto...
 Trajectory tracking control of flexible-joint robots Ider, SK; Özgören, Mustafa Kemal (2000-07-01) 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 linear...
 STABILITY OF CONTROL FORCES IN REDUNDANT MULTIBODY SYSTEMS IDER, SK (1996-01-03) In this paper inverse dynamics of redundant multibody systems using a minimum number of control forces is formulated. It is shown that the control forces and the task accelerations may become noncausal at certain configurations, yielding the dynamical equation set of the system to be singular. For a given set of tasks, each different set of actuators leads to a different system motion and also to different singular configurations. To avoid the singularities in the numerical solution, the dynamical equations...
 Trajectory tracking control of robots with flexible links Ider, SK; Özgören, Mustafa Kemal; Ay, V (2002-11-01) A new method is developed for the end-effector trajectory tracking control of robots with flexible links. In order to cope with the non-minimum phase property of the system, the closed-loop poles are placed at desired locations using full state feedback. The dynamic equations are linearized about the rigid motion. A composite control law is designed to track the desired trajectory while at the same time the internal dynamics is stabilized. The proposed method is valid for all types of manipulators with any ...
 Dynamic stability analysis of modular, self-reconfigurable robotic systems Böke, Tevfik Ali; Soylu, Reşit; Department of Mechanical Engineering (2005) In this study, an efficient algorithm has been developed for the dynamic stability analysis of self-reconfigurable, modular robots. Such an algorithm is essential for the motion planning of self-reconfigurable robotic systems. The building block of the algorithm is the determination of the stability of a rigid body in contact with the ground when there exists Coulomb friction between the two bodies. This problem is linearized by approximating the friction cone with a pyramid and then solved, efficiently, us...
Citation Formats
S. Ider, “Force and motion trajectory tracking control of flexible joint robots,” MECHANISM AND MACHINE THEORY, pp. 363–378, 2000, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/63850.