Transactions of Nanjing University of Aeronautics & Astronautics
Unified Vibration Suppression and Compliance Control for Flexible Joint Robot
- Article
- Figures
- Metrics
- Preview PDF
- Reference
- Related
- Cited by
- Materials
Abstract:
An adaptive control scheme is presented， which can simultaneously realize vibration suppression and compliance control for flexible joint robot （FJR）. The proposed control scheme provides a unified formulation for both vibration suppression mode， where FJR tracks the desired position with little vibration， and compliance mode， in which FJR presents passive. Instead of designing multiple controllers and switching between them， both modes are integrated into a single controller， and the transition between two modes is smooth and stable. The stability of the closed-loop system is theoretically proven via the Lyapunov method， with the considering the dynamics uncertainties in both link side and motor side. Simulation results are presented to illustrate good performances of the proposed control scheme.
Keywords:
Project Supported:
Clc Number:
TP242
Mobile website
