Robust Control of Flexible Joint Robot Manipulator

A feedback linearization based control is employed for the rigid link model of a robot having joint flexibility and the effect of joint flexibility is treated as a disturbance. A novel Uncertainty and Disturbance Estimator (UDE) is then used to estimate the disturbance to robustify the feedback line...

Full description

Saved in:
Bibliographic Details
Main Authors: Patel, A., Neelgund, R., Wathore, A., Kolhe, J.P., Kuber, M.M., Talole, S.E.
Format: Conference Proceeding
Language:English
Subjects:
Adaptive control
DC motors
Elasticity
Equations
Linear feedback control systems
Manipulator dynamics
Motion control
Robot sensing systems
Robust control
Uncertainty
Citations: Items that cite this one
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
cited_by cdi_FETCH-LOGICAL-c137t-6cd2d0245371ee245c1b0a3d28c8395b9b74c30ea8d611b599ede9a513d813db3
cites
container_end_page 653
container_issue
container_start_page 649
container_title
container_volume
creator Patel, A.
Neelgund, R.
Wathore, A.
Kolhe, J.P.
Kuber, M.M.
Talole, S.E.
description A feedback linearization based control is employed for the rigid link model of a robot having joint flexibility and the effect of joint flexibility is treated as a disturbance. A novel Uncertainty and Disturbance Estimator (UDE) is then used to estimate the disturbance to robustify the feedback linearizing controller. As only motor side variables are used in controller, the number of sensors are reduced. To demonstrate the effectiveness of the design, numerical simulations are carried out by considering parametric uncertainties and joint flexibility and the results are presented.
doi_str_mv 10.1109/ICIT.2006.372236
format conference_proceeding
fullrecord <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_4237558</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>4237558</ieee_id><sourcerecordid>4237558</sourcerecordid><originalsourceid>FETCH-LOGICAL-c137t-6cd2d0245371ee245c1b0a3d28c8395b9b74c30ea8d611b599ede9a513d813db3</originalsourceid><addsrcrecordid>eNpFjVFLwzAUhSMiqHPvgi_5A5259yZN8yjFucpEkPk8kuYOKrUZbQb67y0oeODwceBwjhC3oFYAyt03dbNboVLliiwilWfiGjRqrSyW5vw_GHspltP0oWaRMwB4JfAthdOUZZ2GPKZepoNc9_zVhZ7lc-qGLOdCyvLFD93x1PucxhtxcfD9xMs_LsT7-nFXb4rt61NTP2yLFsjmomwjRoXakAXmmS0E5Sli1Vbze3DB6pYU-yqWAME4x5GdN0Cxmh1oIe5-dztm3h_H7tOP33uNZI2p6Af4uUPw</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Robust Control of Flexible Joint Robot Manipulator</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Patel, A. ; Neelgund, R. ; Wathore, A. ; Kolhe, J.P. ; Kuber, M.M. ; Talole, S.E.</creator><creatorcontrib>Patel, A. ; Neelgund, R. ; Wathore, A. ; Kolhe, J.P. ; Kuber, M.M. ; Talole, S.E.</creatorcontrib><description>A feedback linearization based control is employed for the rigid link model of a robot having joint flexibility and the effect of joint flexibility is treated as a disturbance. A novel Uncertainty and Disturbance Estimator (UDE) is then used to estimate the disturbance to robustify the feedback linearizing controller. As only motor side variables are used in controller, the number of sensors are reduced. To demonstrate the effectiveness of the design, numerical simulations are carried out by considering parametric uncertainties and joint flexibility and the results are presented.</description><identifier>ISBN: 1424407257</identifier><identifier>ISBN: 9781424407255</identifier><identifier>EISBN: 1424407265</identifier><identifier>EISBN: 9781424407262</identifier><identifier>DOI: 10.1109/ICIT.2006.372236</identifier><language>eng</language><publisher>IEEE</publisher><subject>Adaptive control ; DC motors ; Elasticity ; Equations ; Linear feedback control systems ; Manipulator dynamics ; Motion control ; Robot sensing systems ; Robust control ; Uncertainty</subject><ispartof>2006 IEEE International Conference on Industrial Technology, 2006, p.649-653</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c137t-6cd2d0245371ee245c1b0a3d28c8395b9b74c30ea8d611b599ede9a513d813db3</citedby></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/4237558$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,27925,54920</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/4237558$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Patel, A.</creatorcontrib><creatorcontrib>Neelgund, R.</creatorcontrib><creatorcontrib>Wathore, A.</creatorcontrib><creatorcontrib>Kolhe, J.P.</creatorcontrib><creatorcontrib>Kuber, M.M.</creatorcontrib><creatorcontrib>Talole, S.E.</creatorcontrib><title>Robust Control of Flexible Joint Robot Manipulator</title><title>2006 IEEE International Conference on Industrial Technology</title><addtitle>ICIT</addtitle><description>A feedback linearization based control is employed for the rigid link model of a robot having joint flexibility and the effect of joint flexibility is treated as a disturbance. A novel Uncertainty and Disturbance Estimator (UDE) is then used to estimate the disturbance to robustify the feedback linearizing controller. As only motor side variables are used in controller, the number of sensors are reduced. To demonstrate the effectiveness of the design, numerical simulations are carried out by considering parametric uncertainties and joint flexibility and the results are presented.</description><subject>Adaptive control</subject><subject>DC motors</subject><subject>Elasticity</subject><subject>Equations</subject><subject>Linear feedback control systems</subject><subject>Manipulator dynamics</subject><subject>Motion control</subject><subject>Robot sensing systems</subject><subject>Robust control</subject><subject>Uncertainty</subject><isbn>1424407257</isbn><isbn>9781424407255</isbn><isbn>1424407265</isbn><isbn>9781424407262</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2006</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNpFjVFLwzAUhSMiqHPvgi_5A5259yZN8yjFucpEkPk8kuYOKrUZbQb67y0oeODwceBwjhC3oFYAyt03dbNboVLliiwilWfiGjRqrSyW5vw_GHspltP0oWaRMwB4JfAthdOUZZ2GPKZepoNc9_zVhZ7lc-qGLOdCyvLFD93x1PucxhtxcfD9xMs_LsT7-nFXb4rt61NTP2yLFsjmomwjRoXakAXmmS0E5Sli1Vbze3DB6pYU-yqWAME4x5GdN0Cxmh1oIe5-dztm3h_H7tOP33uNZI2p6Af4uUPw</recordid><startdate>200612</startdate><enddate>200612</enddate><creator>Patel, A.</creator><creator>Neelgund, R.</creator><creator>Wathore, A.</creator><creator>Kolhe, J.P.</creator><creator>Kuber, M.M.</creator><creator>Talole, S.E.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200612</creationdate><title>Robust Control of Flexible Joint Robot Manipulator</title><author>Patel, A. ; Neelgund, R. ; Wathore, A. ; Kolhe, J.P. ; Kuber, M.M. ; Talole, S.E.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c137t-6cd2d0245371ee245c1b0a3d28c8395b9b74c30ea8d611b599ede9a513d813db3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2006</creationdate><topic>Adaptive control</topic><topic>DC motors</topic><topic>Elasticity</topic><topic>Equations</topic><topic>Linear feedback control systems</topic><topic>Manipulator dynamics</topic><topic>Motion control</topic><topic>Robot sensing systems</topic><topic>Robust control</topic><topic>Uncertainty</topic><toplevel>online_resources</toplevel><creatorcontrib>Patel, A.</creatorcontrib><creatorcontrib>Neelgund, R.</creatorcontrib><creatorcontrib>Wathore, A.</creatorcontrib><creatorcontrib>Kolhe, J.P.</creatorcontrib><creatorcontrib>Kuber, M.M.</creatorcontrib><creatorcontrib>Talole, S.E.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Xplore (Online service)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Patel, A.</au><au>Neelgund, R.</au><au>Wathore, A.</au><au>Kolhe, J.P.</au><au>Kuber, M.M.</au><au>Talole, S.E.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Robust Control of Flexible Joint Robot Manipulator</atitle><btitle>2006 IEEE International Conference on Industrial Technology</btitle><stitle>ICIT</stitle><date>2006-12</date><risdate>2006</risdate><spage>649</spage><epage>653</epage><pages>649-653</pages><isbn>1424407257</isbn><isbn>9781424407255</isbn><eisbn>1424407265</eisbn><eisbn>9781424407262</eisbn><abstract>A feedback linearization based control is employed for the rigid link model of a robot having joint flexibility and the effect of joint flexibility is treated as a disturbance. A novel Uncertainty and Disturbance Estimator (UDE) is then used to estimate the disturbance to robustify the feedback linearizing controller. As only motor side variables are used in controller, the number of sensors are reduced. To demonstrate the effectiveness of the design, numerical simulations are carried out by considering parametric uncertainties and joint flexibility and the results are presented.</abstract><pub>IEEE</pub><doi>10.1109/ICIT.2006.372236</doi><tpages>5</tpages></addata></record>
fulltext fulltext_linktorsrc
identifier ISBN: 1424407257
ispartof 2006 IEEE International Conference on Industrial Technology, 2006, p.649-653
issn
language eng
recordid cdi_ieee_primary_4237558
source IEEE Electronic Library (IEL) Conference Proceedings
subjects Adaptive control
DC motors
Elasticity
Equations
Linear feedback control systems
Manipulator dynamics
Motion control
Robot sensing systems
Robust control
Uncertainty
title Robust Control of Flexible Joint Robot Manipulator
url http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-29T06%3A17%3A15IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Robust%20Control%20of%20Flexible%20Joint%20Robot%20Manipulator&rft.btitle=2006%20IEEE%20International%20Conference%20on%20Industrial%20Technology&rft.au=Patel,%20A.&rft.date=2006-12&rft.spage=649&rft.epage=653&rft.pages=649-653&rft.isbn=1424407257&rft.isbn_list=9781424407255&rft_id=info:doi/10.1109/ICIT.2006.372236&rft.eisbn=1424407265&rft.eisbn_list=9781424407262&rft_dat=%3Cieee_6IE%3E4237558%3C/ieee_6IE%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-c137t-6cd2d0245371ee245c1b0a3d28c8395b9b74c30ea8d611b599ede9a513d813db3%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=4237558&rfr_iscdi=true