Adaptive Tracking Control of Rigid-Link Flexible-Joint Robot Manipulator with Uncertainties

Chao Liu 1, * Xianbo Xiang 2 Philippe Poignet 3, 1
* Auteur correspondant
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot manipulators. In this paper, we propose an adaptive tracking control method which can deal with the kinematics uncertainty and uncertainties in both link and actuator dynamics of the rigid-link flexible-joint (RLFJ) robot system. Adaptive observers are designed to avoid acceleration measurements due to the fourth-order overall system dynamics. Convergence of both end-effector tracking errors and observing errors are proven and sufficient conditions are presented to guarantee system's asymptotic stability.
Type de document :
Communication dans un congrès
IFAC 18th World Congress 2011, Milano, Italy. pp.10300-10306, 2011
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00629392
Contributeur : Chao Liu <>
Soumis le : mercredi 5 octobre 2011 - 17:00:51
Dernière modification le : mercredi 5 septembre 2018 - 10:54:01

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  • HAL Id : lirmm-00629392, version 1

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Chao Liu, Xianbo Xiang, Philippe Poignet. Adaptive Tracking Control of Rigid-Link Flexible-Joint Robot Manipulator with Uncertainties. IFAC 18th World Congress 2011, Milano, Italy. pp.10300-10306, 2011. 〈lirmm-00629392〉

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