Control of Robots with Elastic Joints Interacting with Dynamic Environment

Authors:
Miomir Vukobratović;Vladimir Matijević;Veljko Potkonjak
Affiliations:
Robotics Department, Mihajlo Pupin Institute, P.O. Box 15, Volgina 15, 11000 Belgrade, Yugoslavia;Robotics Department, Mihajlo Pupin Institute, P.O. Box 15, Volgina 15, 11000 Belgrade, Yugoslavia;Electrical Engineering Faculty, 11000 Belgrade, Yugoslavia
Venue:
Journal of Intelligent and Robotic Systems
Year:
1998

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Abstract

In this paper, the control of robots with elastic joints in contact withdynamic environment is considered. It is shown how control laws synthesizedfor the robots with rigid joints interacting with dynamic environment canalso be used in the case of robots with elastic joints. The proposed controllaws are based on a robot model interacting with dynamic environment,including the dynamics of actuators and the elasticity of joints. Theproposed control laws possess two feedback loops: the outer, serving for“on-line” calculation of the motor shaft angle based on theposition error or the contact force error, and the inner one, serving forperforming stabilization around the calculated motor shaft angle. Simulationresults which exhibit the application of the appropriate control laws arealso presented.