Robust control of flexible-joint robots using voltage control strategy

Abstract

So far, control of robot manipulators has frequently been developed based on the torque-control strategy. However, two drawbacks may occur. First, torque-control laws are inherently involved in complexity of the manipulator dynamics characterized by nonlinearity, largeness of model, coupling, uncertainty and joint flexibility. Second, actuator dynamics may be excluded from the controller design. The novelty of this paper is the use of voltage control strategy to develop robust tracking control of electrically driven flexible-joint robot manipulators. In addition, a novel method of uncertainty estimation is introduced to obtain the control law. The proposed control approach has important advantages over the torque-control approaches due to being free of manipulator dynamics. It is computationally simple, decoupled, well-behaved and has a fast response. The control design includes two interior loops; the inner loop controls the motor position and the outer loop controls the joint position. Stability analysis is presented and performance of the control system is evaluated. Effectiveness of the proposed control approach is demonstrated by simulations using a three-joint articulated flexible-joint robot driven by permanent magnet dc motors.