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

页码：2728 / 2736

页数：9

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