Adaptive tracking control of flexible-joint manipulators without overparametrization

Min S. Kim, Jin S. Lee

Research output: Contribution to journalArticlepeer-review

35 Scopus citations

Abstract

In this paper, an adaptive controller is designed for rigid-link flexible-joint robot manipulators based on link and actuator position measurements only. It is based on the adaptive integrator backstepping method and the link and actuator velocity filters are used to estimate the unknown velocity terms. Moreover, the proposed controller exploits the estimate of the joint stiffness matrix inverse to overcome the overparametrization problem, which has been a significant drawback in adaptive partial state feedback controllers. It achieves asymptotic tracking of link positions while keeping all states and signals bounded. The tracking capability of the presented method is shown through simulation results of one- and two-link flexible joint manipulators.

Original languageEnglish
Pages (from-to)369-379
Number of pages11
JournalJournal of Robotic Systems
Volume21
Issue number7
DOIs
StatePublished - Jul 2004

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