A NEW APPROACH TO CONTROL SINGLE - LINK FLEXIBLE ARMS . PART Ik Control of the Tip Position in the Presence of Joint

Nonlinear Stabilizing Controller for a Special Class of Single Link Flexible Joint Robots

Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

A new approach to control single-link flexible arms

This report presents a new way to control the tip position of single-link flexible arms when friction is present in the joint. In order to minimize the influence of the nonlinear components of this friction, the control scheme is composed of two nested loops: an inner loop that controls the motor position, and an outer loop that controls the tip position. It is demonstrated that proper design o...

Direct adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization

In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the contro...

A NEW APPROACH TO CONTROL SINGLE - LINK FLEXIBLE ARMS . PART IIk Adaptive Control of the Tip Position with Payload Changes

Function Approximation Approach for Robust Adaptive Control of Flexible joint Robots

This paper is concerned with the problem of designing a robust adaptive controller for flexible joint robots (FJR). Under the assumption of weak joint elasticity, FJR is firstly modeled and converted into singular perturbation form. The control law consists of a FAT-based adaptive control strategy and a simple correction term. The first term of the controller is used to stability of the slow dy...