Cascaded Control of Flexible-Joint Robots Based on Sliding-Mode Estimator Approach

Joint Authors

Shi, Jingxin
Xiong, Genliang
Chen, Haichu

Source

Journal of Robotics

Issue

Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2020-10-27

Country of Publication

Egypt

No. of Pages

12

Main Subjects

Mechanical Engineering

Abstract EN

The inherent highly nonlinear coupling and system uncertainties make the controller design for a flexible-joint robot extremely difficult.

The goal of the control of any robotic system is to achieve high bandwidth, high accuracy of trajectory tracking, and high robustness, whereby the high bandwidth for flexible-joint robot is the most challenging issue.

This paper is dedicated to design such a link position controller with high bandwidth based on sliding-mode technique.

Then, two control approaches ((1) extended-regular-form approach and (2) the cascaded control structure based on the sliding-mode estimator approach) are presented for the link position tracking control of flexible-joint robot, considering the dynamics of AC-motors in robot joints, and compared with the singular perturbation approach.

These two-link position controllers are tested and verified by the simulation studies with different reference trajectories and under different joint stiffness.

American Psychological Association (APA)

Xiong, Genliang& Shi, Jingxin& Chen, Haichu. 2020. Cascaded Control of Flexible-Joint Robots Based on Sliding-Mode Estimator Approach. Journal of Robotics،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1190268

Modern Language Association (MLA)

Shi, Jingxin…[et al.]. Cascaded Control of Flexible-Joint Robots Based on Sliding-Mode Estimator Approach. Journal of Robotics No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1190268

American Medical Association (AMA)

Xiong, Genliang& Shi, Jingxin& Chen, Haichu. Cascaded Control of Flexible-Joint Robots Based on Sliding-Mode Estimator Approach. Journal of Robotics. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1190268

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1190268