Decoupling and tracking control for elastic joint robots with coupled joint structure

Decoupling based Cartesian impedance control of flexible joint robots

This paper addresses the impedance control problem for flexible joint manipulators. An impedance controller structure is proposed, which is based on an exact decoupling of the torque dynamics from the link dynamics. A formal stability analysis of the proposed controller is presented for the general tracking case. Preliminary experimental results are given for a single flexible joint.

Cartesian Impedance Control of Flexible Joint Robots: A Decoupling Approach

Locally Weighted Learning Model Predictive Control for Elastic Joint Robots

This paper proposes an efficient and online learning control system that uses the successful Model Predictive Control (MPC) method in a model based locally weighted learning framework. The new approach named Locally Weighted Learning Model Predictive Control (LWL-MPC) has been proposed as a solution to learn to control complex and nonlinear Elastic Joint Robots (EJR). Elastic Joint Robots are g...

Redundant Resolution with Minimum Joint Elastic Deflection for Elastic Joint Redundant Robots

In this paper, the redundancy resolution methods for elastic joint redundant robots are researched. First, a redundancy resolution method called MD method is proposed by using joint elastic deflection as a performance index. And then, the influence of robots’ initial configuration on this method is discussed. Finally, simulations for a planar 3R redundant robot with elastic joints are conducted...

Nonlinear H Control for Uncertain Flexible Joint Robots with Unscented Kalman Filter

Todays, use of combination of two or more methods was considered to control of systems. In this paper ispresented how to design of a nonlinear H∞ (NL-H∞) controller for flexible joint robot (FJR) based on boundedUKF state estimator. The UKF has more advantages to standard EKF such as low bios and no need toderivations. In this research, based on spong primary model for FJRs, same as rigid robot...