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Robust control using recursive design method for flexible joint robot manipulators

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Abstract

A flexible joint robot manipulator can be regarded as a cascade of two subsystems: link dynamics and the motor dynamics. Using this structural characteristic, we propose a robust nonlinear recursive control method for flexible manipulators. The recursive design is done in two steps. First, a fictitious robust control for the link dynamics is designed as if it has a direct control input. As the fictitious control, a nonlinear H ∞-control using energy dissipation is designed in the sense of L 2-gain attenuation from the disturbance caused by uncertainties to performance. In the process, Hamilton-Jacobi (HJ) inequality is solved by a more tractable nonlinear matrix inequality (NLMI) method. In the second step, the other fictitious and the actual robust control are designed recursively by using the Lyapunov’s second method. The proposed robust control is applied to a two-link robot manipulator with flexible joints in computer simulations. The simulation results show that the proposed robust control has robustness to the model uncertainty caused by changes in the link inertia and the joint stiffness.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Hanyang University, Seoul, 133-791, Korea

    Je Sung Yeon & Jongguk Yim

  2. School of Mechanical Engineering, Hanyang University, Seoul, 133-791, Korea

    Jong Hyeon Park

Authors
  1. Je Sung Yeon
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  2. Jongguk Yim
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  3. Jong Hyeon Park
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Corresponding author

Correspondence to Jong Hyeon Park.

Additional information

This paper was recommended for publication in revised form by Editor Keum Shik Hong

Je Sung Yeon received his B.S. degree from the School of Mechanical Engineering at Chungbuk National University, Cheongju, Korea, in 2002 and his M.S. degree in the Department of Precision Mechanical Engineering from Hanyang University, Seoul, Korea, in 2004. He is currently a Ph.D candidate in the Department of Mechanical Engineering, Hanyang University, Seoul, Korea. His current research interests are related to robust control, dynamical control, learning control, biped/quadruped robots, and redundant manipulators.

Jongguk Yim received his B.S. degree from the Deparment of Precision Mechanical Engineering and his M.S. degree from the Graduate School of Precision Mechanical Engineering at Hanyang University, Seoul, Korea, in 1994 and 1996, respectively. He is currently a Ph.D candidate in the Department of Mechanical Engineering, Hanyang University, Seoul, Korea. His current research interests are related to robust control of nonlinear system.

Jong Hyeon Park received his B.S. degree in mechanical engineering from Seoul National University, Seoul, Korea, in 1981 and his S.M. and Ph.D degrees from the Massachusetts Institute of Technology (MIT), Cambridge, in 1983 and 1991, respectively. Since 1992, he has been with the School of Mechanical Engineering at Hanyang University, Seoul, Korea, where he is currently a Professor. He was a KOSEF (Korea Science and Engineering Foundation)-JSPS (Japan Society for the Promotion of Science) Visiting Researcher with Waseda University, Tokyo, Japan, in 1999; a KOSEF-CNR (Consiglio Nazionale delle Ricerche) Visiting Researcher with Scuola Superiore Sant’Anna, Pisa, Italy, in 2000; and a Visiting Scholar with MIT, Cambridge, USA, in 2002–2003. He was also associated with Brooks Automation Inc., Chelmsford, MA, in 1991–1992 and 2001–2002. His research interests include biped robots, robot dynamics and control, haptics, and bio-robots. He is a member of the IEEE (Institute of Electrical and Electronics Engineers), KSME (Korea Society of Mechanical Engineers), ICROS (Institute of Control, Robotics and Systems), KROS (Korea Robotics Society), KSAE (Korean Society of Automotive Engineers), KSPE (Korean Society of Precision Engineering) and KSEE (Korean Society for Engineering Education).

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Yeon, J.S., Yim, J. & Park, J.H. Robust control using recursive design method for flexible joint robot manipulators. J Mech Sci Technol 25, 3205–3213 (2011). https://doi.org/10.1007/s12206-011-0822-0

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  • DOI: https://doi.org/10.1007/s12206-011-0822-0

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