Adaptive force and position control of rigid-link flexible-joint SCARA robots

In this paper a new form of direct adaptive force and position control of rigid-link flexible-joints 4 DOF SCARA robots has been presented. The control law of the adaptive scheme for position control consists of a PD regulator and adaptive model-based feedforward compensation of full dynamics, toget...

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Bibliographic Details
Published inProceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics Vol. 3; pp. 1639 - 1644 vol.3
Main Author Mester, G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1994
Subjects
Adaptive control
Force control
Gears
Manipulator dynamics
Nonlinear dynamical systems
Parameter estimation
Payloads
Position control
Programmable control
Service robots
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Summary:In this paper a new form of direct adaptive force and position control of rigid-link flexible-joints 4 DOF SCARA robots has been presented. The control law of the adaptive scheme for position control consists of a PD regulator and adaptive model-based feedforward compensation of full dynamics, together with a simple linear correction term from motor velocity based on the estimated parameters to compensate the elastic oscillations at the joints. The algorithm is computationally simple, the adaptive controllers do not require knowledge of the parameter values of the robot or the environment. Results of the computer simulation applied to this robot show the validity of the proposed method.< >
ISBN:0780313283
9780780313286
DOI:10.1109/IECON.1994.398059