Abstract
The lack of knowledge of robot dynamics and joint elasticity for precise tracking control can be overcome by using either robust or adaptive (learning) control. The standard form of adaptive control does not appear to be applicable since the basic assumptions on the system dynamics and non-linear characteristics are rarely satisfied. On the other hand, variable structure control (VSC) is a powerful control method that has its main attractiveness in the invariance to disturbances and parameter variation. The paper presents a robust control for elastic joint robots (EJR) based on variable structure systems (VSS). The controller needs the measurement of position and velocity and the knowledge of the upper bounds of the uncertainties.
Published Version
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