On the robust nonlinear motion position and force control of flexible joints robot manipulators
type: Item
instance of: scholarly article
title: On the robust nonlinear motion position and force control of flexible joints robot manipulators
zbMATH Open document ID: 0981.93048
DOI: 10.1023/A:1008099522350
author: Atef T. Massoud
author: Tarek Lahdhiri
author: Hoda A. ElMaraghy
published in: Journal of Intelligent \& Robotic Systems
publication date: 1999-11-09T00:00:00Z
review text: The authors present the design of a robust nonlinear position and force controller for a two-link robotic manipulator with flexible joints that interacts with a rigid environment. The design of the controller is based on the concept of feedback linearization using sliding mode techniques and linear quadratic estimation methods. The proposed controller modifies the feedback linearizing control law by adding a switching action to compensate for errors due to parametric uncertainties and to guarantee the desired tracking performance. An experimental study is described where a mechanical arm that is a two-link modular direct drive manipulator with flexible joints using helical torsion springs is combined with a real time controller. Both experimental and simulation results show the value of this control approach even with the presence of parameter uncertainty in the dynamic model.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70B15
Mathematics Subject Classification ID: 93B18
Mathematics Subject Classification ID: 93B12
zbMATH DE Number: 1359773
zbMATH Keywords: robust nonlinear position and force controller
zbMATH Keywords: robotic manipulator
zbMATH Keywords: flexible joints
zbMATH Keywords: feedback linearization
zbMATH Keywords: sliding mode
zbMATH Keywords: linear quadratic estimation
zbMATH Keywords: tracking
reviewed by: William J. Satzer Jr.
MaRDI profile type: Publication
full work available at URL: a:1008099522350
OpenAlex ID: W1518914840
description: scientific article; zbMATH DE number 1359773