Robust Linear Control of Flexible Joint Robot Systems

Authors:
Hoda A. Elmaraghy;Tarek Lahdhiri;Frank Ciuca
Affiliations:
University of Windsor, Windsor, ON, Canada N9B 3P4/ e-mail: hae@ims.uwindsor.ca;Intelligent Manufacturing Systems Centre, Electrical Engineering Dept, University of Windsor, Windsor, ON, Canada N9B 3P4;University of Windsor, Windsor, ON, Canada N9B 3P4
Venue:
Journal of Intelligent and Robotic Systems
Year:
2002

Citing 3
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Abstract

This paper presents the development and design of a robust linear controller for a flexible joint robot. First, a realistic model is developed taking into account the effects of stick-slip friction, nonlinear spring force characteristic, the rotors' Coriolis and centrifugal acceleration due to the velocities of the precedent links and rotors, and measurement noise. Second, a robust controller is designed using LQG/LTR techniques. Extensive simulation was performed on an experimental robot system using several trajectories. The results demonstrate that the proposed model/controller provides excellent tracking and regulation performance.