Unified Vibration Suppression and Compliance Control for Flexible Joint Robot

Shipeng Cui; Yongjun Sun; Yiwei Liu; Hong Liu

doi:10.16356/j.1005-1120.2021.03.001

Unified Vibration Suppression and Compliance Control for Flexible Joint Robot

Shipeng Cui
, Yongjun Sun^*
, Yiwei Liu
, Hong Liu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

5 Scopus citations

Abstract

An adaptive control scheme is presented, which can simultaneously realize vibration suppression and compliance control for flexible joint robot (FJR). The proposed control scheme provides a unified formulation for both vibration suppression mode, where FJR tracks the desired position with little vibration, and compliance mode, in which FJR presents passive. Instead of designing multiple controllers and switching between them, both modes are integrated into a single controller, and the transition between two modes is smooth and stable. The stability of the closed-loop system is theoretically proven via the Lyapunov method, with the considering the dynamics uncertainties in both link side and motor side. Simulation results are presented to illustrate good performances of the proposed control scheme.

Translated title of the contribution	柔性关节机械臂振动抑制/柔顺统一控制
Original language	English
Pages (from-to)	361-372
Number of pages	12
Journal	Transactions of Nanjing University of Aeronautics and Astronautics
Volume	38
Issue number	3
DOIs	https://doi.org/10.16356/j.1005-1120.2021.03.001
State	Published - Jun 2021

Keywords

Adaptive control scheme
Compliance
Flexible joint robot (FJR)
Stability
Vibration suppression

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10.16356/j.1005-1120.2021.03.001

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title = "Unified Vibration Suppression and Compliance Control for Flexible Joint Robot",

abstract = "An adaptive control scheme is presented, which can simultaneously realize vibration suppression and compliance control for flexible joint robot (FJR). The proposed control scheme provides a unified formulation for both vibration suppression mode, where FJR tracks the desired position with little vibration, and compliance mode, in which FJR presents passive. Instead of designing multiple controllers and switching between them, both modes are integrated into a single controller, and the transition between two modes is smooth and stable. The stability of the closed-loop system is theoretically proven via the Lyapunov method, with the considering the dynamics uncertainties in both link side and motor side. Simulation results are presented to illustrate good performances of the proposed control scheme.",

keywords = "Adaptive control scheme, Compliance, Flexible joint robot (FJR), Stability, Vibration suppression",

author = "Shipeng Cui and Yongjun Sun and Yiwei Liu and Hong Liu",

year = "2021",

month = jun,

doi = "10.16356/j.1005-1120.2021.03.001",

language = "英语",

volume = "38",

pages = "361--372",

journal = "Transactions of Nanjing University of Aeronautics and Astronautics",

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T1 - Unified Vibration Suppression and Compliance Control for Flexible Joint Robot

AU - Cui, Shipeng

AU - Sun, Yongjun

AU - Liu, Yiwei

AU - Liu, Hong

PY - 2021/6

Y1 - 2021/6

N2 - An adaptive control scheme is presented, which can simultaneously realize vibration suppression and compliance control for flexible joint robot (FJR). The proposed control scheme provides a unified formulation for both vibration suppression mode, where FJR tracks the desired position with little vibration, and compliance mode, in which FJR presents passive. Instead of designing multiple controllers and switching between them, both modes are integrated into a single controller, and the transition between two modes is smooth and stable. The stability of the closed-loop system is theoretically proven via the Lyapunov method, with the considering the dynamics uncertainties in both link side and motor side. Simulation results are presented to illustrate good performances of the proposed control scheme.

AB - An adaptive control scheme is presented, which can simultaneously realize vibration suppression and compliance control for flexible joint robot (FJR). The proposed control scheme provides a unified formulation for both vibration suppression mode, where FJR tracks the desired position with little vibration, and compliance mode, in which FJR presents passive. Instead of designing multiple controllers and switching between them, both modes are integrated into a single controller, and the transition between two modes is smooth and stable. The stability of the closed-loop system is theoretically proven via the Lyapunov method, with the considering the dynamics uncertainties in both link side and motor side. Simulation results are presented to illustrate good performances of the proposed control scheme.

KW - Adaptive control scheme

KW - Compliance

KW - Flexible joint robot (FJR)

KW - Stability

KW - Vibration suppression

UR - https://www.scopus.com/pages/publications/85109456053

U2 - 10.16356/j.1005-1120.2021.03.001

DO - 10.16356/j.1005-1120.2021.03.001

M3 - 文章

AN - SCOPUS:85109456053

SN - 1005-1120

VL - 38

SP - 361

EP - 372

JO - Transactions of Nanjing University of Aeronautics and Astronautics

JF - Transactions of Nanjing University of Aeronautics and Astronautics

IS - 3

ER -

Unified Vibration Suppression and Compliance Control for Flexible Joint Robot

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Keywords

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