Hostname: page-component-77c89778f8-sh8wx Total loading time: 0 Render date: 2024-07-18T11:23:26.475Z Has data issue: false hasContentIssue false
  • English
  • Français

A manoeuvre control strategy for flexible-joint manipulators with joint dry friction

Published online by Cambridge University Press:  27 August 2009

H. Salmasi ,
R. Fotouhi  and
P. N. Nikiforuk
H. Salmasi
Affiliation:
Mechanical Engineering Department, University of Saskatchewan, 57 Campus Drive, Saskatoon, CanadaS7N 5A9
R. Fotouhi*
Affiliation:
Mechanical Engineering Department, University of Saskatchewan, 57 Campus Drive, Saskatoon, CanadaS7N 5A9
P. N. Nikiforuk
Affiliation:
Mechanical Engineering Department, University of Saskatchewan, 57 Campus Drive, Saskatoon, CanadaS7N 5A9
*
*Corresponding author. E-mail: reza.fotouhi@usask.ca
Get access Rights & Permissions [Opens in a new window]

Summary

A new control strategy based on the singular perturbation method and integral manifold concept is introduced for flexible-joint manipulators with joint friction. In controllers so far developed based on the singular perturbation theory, the dynamics of actuators of flexible-joint manipulators are partially modelled, and the coupling between actuators and links is ignored. This assumption leads to inaccuracy in control performance and error in trajectory tracking which is crucial in high-precision manipulation tasks. In this paper, a comprehensive dynamic model which takes into account the coupling between actuators and links is developed and a composite controller is then designed based on the singular perturbation theorem and integral manifold concept. To overcome the joint friction, a novel method is introduced in which a linear feed-forward torque is designed using the principle of work and energy. Finally, the experimental set-up of a single rigid-link flexible-joint manipulator in the Robotics Laboratory at the University of Saskatchewan is used to verify the proposed controller. Experimental results employing the new controller show that the trajectory tracking error during and at the end of the motion of the robot manipulator is significantly reduced.

Keywords

Flexible-joint manipulatorDry frictionIntegral manifold controller
Type
Article
Information
Robotica , Volume 28 , Issue 4 , July 2010 , pp. 621 - 635
Copyright
Copyright © Cambridge University Press 2009

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Fotouhi, R., Salmasi, H., Dezfulian, S. and Burton, R., “Design and control of a hydraulic simulator for a flexible joint robot,” Adv. Rob. 23 (6), 655–679 (2009).CrossRefGoogle Scholar
2.Spong, M. W., “Control of flexible joint robots: a survey, University of Illinois,” Coordinate Science Laboratory, College of Engineering, UILU-ENG-90-2203, University of Illinois, Urbana, IL, USA (Feb. 1990).Google Scholar
3.Diken, H., “Frequency-response characteristics of a single-link flexible joint manipulator and possible trajectory tracking,” J. Sound Vib. 233 (2), 179–194 (2000).CrossRefGoogle Scholar
4.Al-Bedoor, B. O. and Almusallam, A. A., “Dynamics of flexible-link and flexible-joint manipulator carrying a payload with rotary inertia,” Mech. Mach. Theory 35 (6), 785–820 (2000).CrossRefGoogle Scholar
5.Spurgeon, S. K., Yao, L. and Lu, X. Y., “Robust tracking via sliding mode control for elastic joint manipulators,” Proc. IMechE, Part I; J. Syst. Control Eng. 215 (4), 405–417 (2001).Google Scholar
6.Benallegue, A., “Adaptive control for flexible joint robots using a passive systems approach,” Control Eng. Pract. 3 (10), 1393–1400 (1995).CrossRefGoogle Scholar
7.Khorasani, K., “Adaptive control of flexible joint robots,” Proceedings of IEEE International Conference on Robotics and Automation, Sacramento, CA (April 1991), vol. 3, pp. 2127–2134.Google Scholar
8.Readman, M., Flexible Joint Robots (CRC Press, Boca Raton, FL, 1994).Google Scholar
9.Han, M. C. and Chen, Y. H., “Robust control design for uncertain flexible-joint manipulators: A singular perturbation approach,” Proc. IEEE Conf. Decision Control 1, 611–616 (1993).CrossRefGoogle Scholar
10.Wang, D., “A simple iterative learning controller for manipulators with flexible joints,” Automatica, 31 (9), 1341–1344 (1995).CrossRefGoogle Scholar
11.Macnab, C. J. B. and D'Eleuterio, G. M. T., “Neuroadaptive control of elastic-joint robots using robust performance enhancement,” Robotica 19 (6), 619–629 (2001).CrossRefGoogle Scholar
12.Jalili, N., “An infinite dimensional distributed base controller for regulation of flexible robot arms,” J. Dyn. Syst. Measure. Control 123 (4), 712–719 (2001).CrossRefGoogle Scholar
13.Albu-Schaffer, A., Ott, C. and Hirzinger, G., “A unified passivity-based control framework for position, torque and impedance control of flexible joint robots,” Int. J. Rob. Res. 26 (1), 23–39 (2007).CrossRefGoogle Scholar
14.Spong, M., Khorasani, K. and Kokotovic, P., “An integral manifold approach to the feedback control of flexible joint robots,” IEEE J. Rob. Automat. 3 (4), 291–300 (1987).CrossRefGoogle Scholar
15.Sweet, L. and Good, M., “Redefinition of the robot motion-control problem,” IEEE Control Syst. Mag. 5 (3), 18–25 (1985).CrossRefGoogle Scholar
16.Abdellatif, H. and Heimann, B., “On compensation of passive joint friction in robotic manipulators: modeling, detection and identification,” IEEE International Conference on Control Applications, Munich (Oct. 2006) pp. 2510–2515.Google Scholar
17.Liu, G., Goldenberg, A. A. and Zhang, Y., “Precise slow motion control of a direct-drive robot arm with velocity estimation and friction compensation,” Mechatronics 14 (7), 821–834 (2004).CrossRefGoogle Scholar
18.Canudas de Wit, C., Olsson, H., Astrom, K. J. and Lischinsky, P., “A new model for control of systems with friction,” IEEE Trans. Automat. Control 40 (3), 419–425 (1995).CrossRefGoogle Scholar
19.Ciliz, M. K., “Adaptive control of robot manipulators with neural network based compensation of frictional uncertainties,” Robotica 23 (2), 159–167 (2005).CrossRefGoogle Scholar
20.Tomei, P., “Robust adaptive friction compensation for tracking control of robot manipulators,” IEEE Trans. Automat. Control 45 (11), 2164–2169 (2000).CrossRefGoogle Scholar
21.Piedboeuf, J. C., de Carufel, J. and Harteau, R., “Friction and stick-slip in robots: simulation and experimentation,” Multibody Syst. Dyn. 4 (4), 341–354 (2000).CrossRefGoogle Scholar
22.Grotjahn, M., Daemi, M. and Heimann, B., “Friction and rigid body identification of robot dynamics,” Int. J. Solids Struct. 38 (10), 1889–1902 (2001).CrossRefGoogle Scholar
23.Subudhi, B. and Morris, A. S., “Singular perturbation based neuro-H∞ control scheme for a manipulator with flexible links and joints,” Robotica 24 (2), 151–161 (2006).CrossRefGoogle Scholar
24.Ghorbel, F. and Spong, M. W., “Integral manifolds of singularly perturbed systems with application to rigid-link flexible-joint multibody systems,” Int. J. Non-Lin. Mech. 35 (1), 133–155 (2000).CrossRefGoogle Scholar
25.Ginsberg, J. H., Advanced Engineering Dynamics, 2nd ed. (Cambridge University Press, New York, USA, 1995).Google Scholar
26.Kokotovic, P. V., Khalil, H. K. and O'Reiley, J., Singular Perturbation Methods in Control: Analysis and Design (Academic Press, New York, 1986).Google Scholar
27.Siciliano, B. and Book, W. J., “A singular perturbation approach to control of lightweight flexible manipulators,” Int. J. Rob. Res. 7 (4), 79–90 (1988).CrossRefGoogle Scholar
28.Ferrara, A. and Magnani, L., “Motion control of rigid robot manipulators via first and second order sliding modes,” J. Intell. Rob. Syst. 48 (1), 23–36 (2007).CrossRefGoogle Scholar
29.Torres, S., Mendez, J. A., Acosta, L. and Becerra, V. M., “On improving the performance in robust controllers for robot manipulators with parametric disturbances,” Control Eng. Pract. 15 (5), 557–566 (2007).CrossRefGoogle Scholar
30.Armstrong-Hélouvry, B., Control of Machines with Friction (Kluwer Acadamic, Norwell, MA, 1991).CrossRefGoogle Scholar