TY - GEN
T1 - Position regulation of flexible-joint robots with input/output constant delays
AU - Liu, Yen Chen
AU - Chopra, Nikhil
PY - 2013
Y1 - 2013
N2 - In this paper, the problem of set-point control for flexible-joint robotic manipulators with input/output time delays is investigated. By utilizing scattering transformation with an input-output passive controller, it is demonstrated that the flexible-joint robotic control system can be stabilized when there are time delays in the communication channels. Although stabilization is achieved, the flexible-joint robot cannot be regulated to the desired configuration when utilizing the scattering variables. Hence, a new control framework without scattering transformation is subsequently studied in this paper to guarantee both stability and position regulation provided that the control gain is appropriately selected based on a bound on the time delays. The proposed control algorithms are validated via numerical examples on a two-link flexible-joint robotic manipulator.
AB - In this paper, the problem of set-point control for flexible-joint robotic manipulators with input/output time delays is investigated. By utilizing scattering transformation with an input-output passive controller, it is demonstrated that the flexible-joint robotic control system can be stabilized when there are time delays in the communication channels. Although stabilization is achieved, the flexible-joint robot cannot be regulated to the desired configuration when utilizing the scattering variables. Hence, a new control framework without scattering transformation is subsequently studied in this paper to guarantee both stability and position regulation provided that the control gain is appropriately selected based on a bound on the time delays. The proposed control algorithms are validated via numerical examples on a two-link flexible-joint robotic manipulator.
UR - http://www.scopus.com/inward/record.url?scp=84893810828&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2013.6697209
DO - 10.1109/IROS.2013.6697209
M3 - Conference contribution
AN - SCOPUS:84893810828
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5884
EP - 5889
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -