High-precision Adaptive Backstepping Control of Flexible Joint Robots

WANG Xuezhu; LI Hongyi; WANG Yuechao; CUI Long

doi:10.13976/j.cnki.xk.2016.0001

Volume 45 Issue 1

Feb. 2016

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INFORMATION AND CONTROL > 2016 > 45(1): 1-7. > DOI: 10.13976/j.cnki.xk.2016.0001 CSTR: 32166.14.xk.2016.0001

WANG Xuezhu, LI Hongyi, WANG Yuechao, CUI Long. High-precision Adaptive Backstepping Control of Flexible Joint Robots[J]. INFORMATION AND CONTROL, 2016, 45(1): 1-7. DOI: 10.13976/j.cnki.xk.2016.0001

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High-precision Adaptive Backstepping Control of Flexible Joint Robots

1.
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.
University of Chinese Academy of Sciences, Beijing 100049, China

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Received Date: June 02, 2015
Revised Date: October 11, 2015
Available Online: December 07, 2022
Published Date: February 19, 2016

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Abstract

Abstract

In order to achieve high-precision motion control performance in multi-link flexible joint robots, we present a complete dynamics model, which includes the coupling between the links and the actuators, a LuGre dynamic friction model, and backlash. Based on this dynamics model, we propose an adaptive backstepping control method with observers, in which non-measurable terms are estimated and compensated online. Our theoretical analysis proves the convergence of the observer and the stability of the closed-loop system. The simulation results of this method on a 3-DOF flexible joint robot verify the effectivity of the observer, and demonstrate that the proposed controller can reduce link errors and achieve good trajectory tracking performance.
- flexible joint robot,
- backstepping,
- adaptive control,
- observer,
- LuGre friction

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