Authors:
Navvab Kashiri
1
;
Nikos G. Tsagarakis
1
;
Michael Van Damme
2
;
Bram Vanderborght
2
and
Darwin G. Caldwell
1
Affiliations:
1
Istituto Italiano di Tecnologia, Italy
;
2
Vrije Universiteit Brussel, Belgium
Keyword(s):
Proxy-based Sliding Mode Control, Physical Human-robot Interaction, Flexible Joint Manipulators, Torque Control, Compliant Joints, Linear-quadratic Optimal Control, Position Control, Underactuated Systems.
Related
Ontology
Subjects/Areas/Topics:
Humanoid Robots
;
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
The use of typical position controllers for robots working around humans can involve some risks when unintended physical human-robot interactions occur. In order to benefit from a proper tracking performance during normal operations, and a smooth and damped recovery from position errors due to contacts with external objects/agents, Proxy-based Sliding Mode Control was proposed. While the efficacy of this controller in fully actuated manipulators was discussed, the employment of this controller in underactuated systems has not been studied so far. This paper introduces a control scheme to implement this controller in a class
of underactuated systems. Specifically, the control of flexible joint manipulators possessing passive elastic elements in series with motors is studied. The formulation of Proxy-based Sliding Mode Control is adopted according to the stability requirements of this type of dynamic systems, and a torque controller required for the regulation of the the output torque
of actuation units is designed using the Feedback Linearization and the Linear Quadratic optimal control approach. The performance of the proposed scheme is demonstrated in dynamic simulation of an anthropomorphic compliant arm.
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