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Model-based control of rigid-link flexible-joint robots: an experimental evaluation

Published online by Cambridge University Press:  01 January 1998

M. S. de Queiroz ,
S. Donepudi ,
T. Burg  and
D. M. Dawson
M. S. de Queiroz
Affiliation:
Department of Electrical and Computer Engineering, Center for Advanced Manufacturing, Clemson University, Clemson, SC 29634-0915, USA
S. Donepudi
Affiliation:
Department of Electrical and Computer Engineering, Center for Advanced Manufacturing, Clemson University, Clemson, SC 29634-0915, USA
T. Burg
Affiliation:
Department of Electrical and Computer Engineering, Center for Advanced Manufacturing, Clemson University, Clemson, SC 29634-0915, USA
D. M. Dawson
Affiliation:
Department of Electrical and Computer Engineering, Center for Advanced Manufacturing, Clemson University, Clemson, SC 29634-0915, USA
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Abstract

In this paper, we present an experimental evaluation of several link position tracking control algorithms for rigid-link flexible-joint robot manipulators. To study the performance of the controllers, an IMI 2-link direct-drive planar robot manipulator was modified to approximate linear torsional spring couplings from the actuators to the links. Preliminary experimental results seem to indicate that reduced-order, model-based controllers with an actuator feedback loop provide relatively good link position tracking while a full-order, model-based controller offers some further improvement in link position tracking at the expense of increased computation.

Type
Research Article
Information
Robotica , Volume 16 , Issue 1 , January 1998 , pp. 11 - 21
Copyright
© 1998 Cambridge University Press

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