A new robust adaptive control scheme is proposed for the simultaneous force/motion control of constrained rigid robots including motor dynamics. When slow motor dynamics are present, two problems arise. First, the performance of the controller will be degraded because of the interaction between robot and motor. Second, the uncertainties in the robot are no longer in the range space of control, which means that conventional methods cannot be easily applied. To confront these problems, a novel sliding mode technique is proposed which can achieve robustness to parameter variations in both manipulator and motor. Also the joint position errors can be driven to zero and the force errors can be reduced to arbitrarily small values. No joint acceleration measurement is needed.
References
-
-
1)
-
V.I. Utkin
.
(1992)
Sliding modes in control and optimization.
-
2)
-
N.H. McClamroch ,
D. Wang
.
Feedback stabilization and tracking of constrained robots.
IEEE Trans. Autom. Contr.
,
419 -
426
-
3)
-
O.M.E. El-Ghezawi ,
A.S.I. Zinober ,
S.A. Billings
.
Analysis and design of variablestructure systems using a geometric approach.
Int. J. Contr.
-
4)
-
T.H. Chang ,
Y. Hurmuzlu
.
Sliding control without reaching phase and its applicationsto bipedal locomotion.
J. Dynamic Syst. Meas. & Contr.
,
447 -
455
-
5)
-
J.J. Craig
.
(1988)
Adaptive control of mechanical manipulators.
-
6)
-
Salisbury, J., Craig, J.: `Active stiffness control of manipulator in Cartesian coordinates', Proc. 19th IEEE Conference on Decision and control, 1980.
-
7)
-
Tarn, T.J., Bejczy, A.K., Xi, N.: `Hybrid position/force control of redundant robot withconsideration of motor dynamics', Proc. 13th annual Allerton conference on Communication, controland computing, 1992, p. 702–711.
-
8)
-
M.H. Raibert ,
J.J. Craig
.
Hybrid position/force control of manipulators.
ASME J. Dynamic Syst. Meas. Contr.
-
9)
-
Young, K.K.: `Applications of sliding mode to constrained robot motion control', Proceedings of the American Control Conference, 1988, p. 912–916.
-
10)
-
R. Lozano ,
B. Brogliato
.
Adaptive hybrid force-position control for redundantmanipulators.
IEEE Trans. Autom. Contr.
,
1501 -
1505
-
11)
-
E. Bailey ,
A. Arapostathis
.
Simple sliding mode control scheme applied to robotmanipulators.
Int. J. Contr.
-
12)
-
C.Y. Su ,
T.P. Leung ,
Q.J. Zhou
.
Force/motion control of constrained robots usingsliding mode.
IEEE Trans. Autom. Contr.
,
668 -
672
-
13)
-
M.J. Corless ,
G. Leitmann
.
Continuous state feedback guaranteeing uniform ultimateboundedness for uncertain dynamic systems.
IEEE Trans. Autom. Contr.
-
14)
-
W.S. Lu ,
Q.H. Meng
.
Impedance control with adaptation for robotic manipulators.
IEEE Trans. Robot. Autom.
,
408 -
415
-
15)
-
R.A. Decarlo ,
S.H. Zak ,
G.P. Matthews
.
Variable structure control of nonlinear multivariable systems: a tutorial.
Proc. IEEE
,
212 -
232
-
16)
-
B. Draženović
.
The invariance conditions in variable structure systems.
Automatica
,
287 -
295
-
17)
-
F.L. Lewis ,
C.T. Abdallah ,
D.M. Dawson
.
(1993)
Control of robot manipulators.
-
18)
-
W.J. Wang ,
Y.T. Fan
.
New output feedback design in variable structure systems.
J. Guidance Contr. & Dynamics
,
337 -
340
-
19)
-
Liu, L., Han, Y., Lingarkar, R., Sinha, N.K., Elbestawi, M.A.: `On adaptive force/motioncontrol of constrained robots', Proc. IECON'89, 1989, p. 433–438.
-
20)
-
J.J. Slotine ,
W. Li
.
Adaptive manipulator control: a case study.
IEEE Trans. Automat. Contr.
,
995 -
1003
-
21)
-
N. Hogan
.
Impedance control: an approach to manipulators, Parts I, II.
ASME J. Dynamic Syst. Meas. Contr.
-
22)
-
Su, C.Y., Leung, T.P., Zhou, Q.J.: `Adaptive control of robot manipulators underconstrained motion', Proceedings of the 29th IEEE conference on Decision and control, 1990, p. 2650–2655.
-
23)
-
M.W. Spong
.
Adaptive control of flexible joint manipulators.
Syst. & Control Lett.
,
15 -
21
-
24)
-
T.J. Tarn ,
A.K. Bejczy ,
X. Yun ,
Z. Li
.
Effects of motor dynamics on nonlinearfeedback robot arm control.
IEEE Trans. Robot. Autom.
,
114 -
122
-
25)
-
Y.F. Chen ,
T. Mita ,
S. Wahui
.
A new and simple algorithm for sliding mode control ofrobot arm.
IEEE Trans. Autom. Contr.
,
828 -
829
-
26)
-
P.V. Kokotovic ,
H.K. Khail ,
J. O'Reilly
.
(1986)
Singular perturbation methods in control: analysis and design.
-
27)
-
K.S. Narendra ,
A.M. Annaswamy
.
(1989)
Stable adaptive systems.
http://iet.metastore.ingenta.com/content/journals/10.1049/ip-cta_19960090
Related content
content/journals/10.1049/ip-cta_19960090
pub_keyword,iet_inspecKeyword,pub_concept
6
6