Precise Control of Elastic Joint Robot Using an Interconnection and Damping Assignment Passivity-Based Approach

被引：12
|
作者：
Zhang, Qi [1 ]
Liu, Guangjun [1 ]
机构：
[1] Ryerson Univ, Dept Aerosp Engn, Toronto, ON M5B 2K3, Canada
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2016年 / 21卷 / 06期
基金：
加拿大自然科学与工程研究理事会;
关键词：
Elastic joint robot; interconnect and damping assignment passivity-based control; LuGre friction model; precise tracking control; IMPEDANCE CONTROL; HARMONIC DRIVES; FRICTION; SYSTEMS; HYSTERESIS; TORQUE; MODEL; IDENTIFICATION;
D O I：
10.1109/TMECH.2016.2578287
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Vibration suppression and precise tracking are the two main challenges in the control of elastic joint robots. In this study, an elastic joint robot with precise position sensors on both the motor and link sides is developed to tackle these challenges. With a two-mass model for elastic joint and a LuGre friction model for joint friction, the elastic joint robot system is modeled and analyzed as an underactuated port-controlled Hamiltonian system with dissipation (PCHD). The proposed elastic joint controller is integrated with friction compensation using the interconnection and damping assignment passivity-based control method, leading to a PCHD closed loop system that can be effectively tuned to suppress vibration associated with elastic joints. In addition, integral control is employed to achieve high tracking precision. Experiments have been conducted and the results have demonstrated high performance of the proposed control method.
引用
收藏
页码：2728 / 2736
页数：9
相关论文
共 50 条
  • [1] Interconnection and damping assignment passivity-based control for flexible joint robot
    Zhang, Qi
    Xie, Zongwu
    Kui, Sun
    Yang, Haitao
    Jin Minghe
    Cai, Hegao
    [J]. 2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2014, : 4242 - 4249
  • [2] Interconnection and damping assignment passivity-based control:: A survey
    Ortega, R
    García-Canseco, E
    [J]. EUROPEAN JOURNAL OF CONTROL, 2004, 10 (05) : 432 - 450
  • [3] Interconnection and damping assignment passivity-based control for a compass-like biped robot
    de-Leon-Gomez, Victor
    Santibanez, Victor
    Sandoval, Jesus
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2017, 14 (04): : 1 - 18
  • [4] Control for a three-joint underactuated planar manipulator - Interconnection and damping assignment passivity-based control approach
    Ito, Masahide
    Toda, Naohiro
    [J]. ROBOT MOTION AND CONTROL 2007, 2007, 360 : 109 - +
  • [5] Adaptive interconnection and damping assignment passivity-based control for an underactuated cable-driven robot
    Harandi, M. Reza J.
    Taghirad, Hamid D.
    [J]. INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2021, 35 (12) : 2487 - 2498
  • [6] Interconnection and Damping Assignment Passivity-Based Excitation Control of Power Systems
    Li, Jianyong
    Liu, Yanhong
    Li, Chunwen
    Zhang, Lijun
    [J]. 2010 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-5, 2010, : 954 - +
  • [7] Passivity-Based Trajectory Control of an Overhead Crane by Interconnection and Damping Assignment
    Aschemann, Harald
    [J]. MOTION AND VIBRATION CONTROL, 2009, : 21 - 30
  • [8] Some applications and extensions of interconnection and damping assignment passivity-based control
    Ortega, R
    [J]. LAGRANGIAN AND HAMILTONIAN METHODS IN NONLINEAR CONTROL 2003, 2003, : 41 - 50
  • [9] An introduction to interconnection and damping assignment passivity-based control in process engineering
    Doerfler, Florian
    Johnsen, Jorgen K.
    Allgoewer, Frank
    [J]. JOURNAL OF PROCESS CONTROL, 2009, 19 (09) : 1413 - 1426
  • [10] Interconnection and Damping Assignment Passivity-Based Control of a Fuel Cell System
    Hilairet, M.
    Bethoux, O.
    Azib, T.
    Talj, R.
    [J]. IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE 2010), 2010, : 219 - 224
12345