Model-Free Robust Joint Control of Flexible Joint Robots
- Resource Type
- Conference
- Authors
- Zhang, Rui; Zhang, Qiang; Zhou, Xiaodong; Cheng, Junbo
- Source
- 2023 China Automation Congress (CAC) Automation Congress (CAC), 2023 China. :2424-2428 Nov, 2023
- Subject
- Aerospace
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Robust control
Uncertainty
Torque
System performance
Torque control
Low-pass filters
Bandwidth
Uncertainty and disturbance estimator
flexible joint robot
nonlinear systems
disturbance
robust control
- Language
- ISSN
- 2688-0938
In this paper, an uncertainty and disturbance estimator(UDE) based joint torque robust control method is proposed for robot with flexible joint. The conventional approaches to controlling flexible manipulators mostly focus on the motor side of the joint since it is much stiffer than that of the link side. However, this method reduces the position accuracy of the joint. Here we propose a model-free UDE-based robust torque control method on the joint link side. This method can estimate system disturbances and uncertainties, requiring only knowledge of the system's bandwidth. The numerical simulation results show that the proposed robust controller in this paper can achieve higher positional accuracy.