Cascaded Control of Flexible-Joint Robots Based on Sliding-Mode Estimator Approach
Joint Authors
Shi, Jingxin
Xiong, Genliang
Chen, Haichu
Source
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
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)
Xiong, Genliang…[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