Task-space control of flexible-joint electrically driven robots

Mohammad Mehdi Fateh and Alireza Izadbakhsh*

Department of Electrical Engineering, Shahrood University of Technology, Shahrood, Iran

*Corresponding Author’s Email: izadbakhsh_alireza@hotmail.com

Accepted 02 June 2013

Abstract

This paper presents a novel robust decentralized controller for flexible-joint electrically driven robots under the imperfect transformation of control space, from Task-Space (TS) to Joint-Space (JS). The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed control is simple, fast response and superior to torque control approaches. It can guarantee robustness of control system to both structured and unstructured uncertainties associated with robot dynamics. The control method is verified by stability analysis. Simulations on a two-link actuated flexible-joint robot show the effectiveness of the proposed control approach.

Keywords: Robust control, voltage control strategy, flexible-joint electrically driven robots.