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Technical Brief

Operational Space Prescribed Tracking Performance and Compliance in Flexible Joint Robots

[+] Author and Article Information
Abdelrahem Atawnih

Department of Electrical and Computer Engineering,
Aristotle University of Thessaloniki,
Thessaloniki 54124, Greece
e-mail: atawnih@ee.auth.gr

Zoe Doulgeri

Department of Electrical and Computer Engineering,
Aristotle University of Thessaloniki,
Thessaloniki 54124, Greece
e-mail: doulgeri@eng.auth.gr

George A. Rovithakis

Department of Electrical and Computer Engineering,
Aristotle University of Thessaloniki,
Thessaloniki 54124, Greece
e-mail: robi@eng.auth.gr

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 14, 2014; final manuscript received December 22, 2014; published online February 9, 2015. Assoc. Editor: Jongeun Choi.

J. Dyn. Sys., Meas., Control 137(7), 074503 (Jul 01, 2015) (6 pages) Paper No: DS-14-1332; doi: 10.1115/1.4029529 History: Received August 14, 2014; Revised December 22, 2014; Online February 09, 2015

In this work, an admittance control scheme is proposed utilizing a highly robust prescribed performance position tracking controller for flexible joint robots which is designed at the operational space. The proposed control scheme achieves the desired impedance to the external contact force as well as superior position tracking in free motion without any robot model knowledge, as opposed to the torque based impedance controllers. Comparative simulation results on a three degrees-of-freedom (3DOF) flexible joint manipulator, illustrate the efficiency of the approach.

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Figures

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Fig. 1

Graphical representation of (1) for the case e(0) ≥ 0

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Fig. 2

The proposed control architecture

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Fig. 3

The actual and measured contact force applied to the end-effector. (a) Actual contact force F and (b) measured contact force F∧.

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Fig. 4

End-effector path; nominal desired path (dashed line), actual path in free motion and under contact. (a) The proposed controller and (b) the controller proposed in Ref. [9].

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Fig. 5

End-effector position response; nominal desired shaped trajectory (dashed line), proposed controller (solid line), and CC [9] (dashed-dotted line). (a) Free movement and (b) under contact.

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Fig. 6

Position error ep response: performance bound (dashed line), proposed controller and CC [9]. (a) Free movement and (b) under contact.

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Fig. 7

The motor input torques τm (Nm): in free motion (dashed line) and under contact (solid line). (a) The proposed controller and (b) the controller proposed in Ref. [9].

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