Paper Info
Title
Robust Control of Robots with Variable Joint Stiffness
Abstract
The development of safe and dependable robots for physical human-robot interaction requires both the me- chanical design of lightweight and compliant manipulators and the definition of motion control laws that allow compliant behavior in reaction to possible collisions, while preserving accuracy and performance during the motion in the free space. For these motivations, great attention has been posed in the design of robots manipulators with relevant and programmable joint/transmission stiffness. A robust control strategy for a general class of multi-dof manipulators with variable joint stiffness is presented in this paper. The proposed control scheme is based on three elements: the first one compensates for the robot dynamics, the second one is based on a linear controller to impose a desired behavior, while a smooth sliding mode control action is added to ensure robustness with respect to model uncertainties. The stability of the overall system is studied by using the direct Lyapunov method. The effectiveness of the proposed approach is demonstrated by simulation analysis. Index Terms—Robotic Manipulators, Elastic Joints, Variable Stiffness, Robust Control, Nonlinear Systems.
Year
Venue
Keywords
2009
ICAR
Lyapunov methods,compensation,control system synthesis,feedback,human-robot interaction,linear systems,linearisation techniques,manipulator dynamics,motion control,robust control,uncertain systems,variable structure systems,compensation,dependable robot,direct Lyapunov method,feedback linearization,lightweight-compliant robot manipulator,linear controller,mechanical design,motion control,physical human-robot interaction,robot dynamics,robust control,safe robot,smooth sliding mode control action,stability,transmission stiffness,uncertain system,variable joint stiffness,Elastic Joints,Nonlinear Systems,Robotic Manipulators,Robust Control,Variable Stiffness
Field
DocType
ISBN
Lyapunov function,Joint stiffness,Motion control,Control theory,Control theory,Robustness (computer science),Control engineering,Engineering,Robot,Robust control,Sliding mode control
Conference
978-3-8396-0035-1
Citations 
PageRank 
References 
6
0.57
21
Authors
2
Name
Order
Citations
PageRank
Gianluca Palli126829.98
Claudio Melchiorri277988.97