Title: A robust high-speed position control scheme based on computed torque method for 2 DOF flexible link robot arms
Authors: K. Itamiya; M. Sawada
Addresses: Department of Electrical and Electronic Engineering, National Defense Academy, 10-20, Hashirimizu 1-Chome, Yokosuka 239-8686, Japan ' Doctor's Course of Equipment and Structural Engineering, Graduate School of Science and Engineering, National Defense Academy, 10-20, Hashirimizu 1-Chome, Yokosuka 239-8686, Japan
Abstract: Our group has proposed a high-speed tip position control scheme (Sawada and Itamiya, 2012b) which can be applied to both a flexible link robot arm and a rigid link robot arm. It can be regarded as a natural extension of the computed torque method for a rigid link robot arm. This method can achieve a high-speed position control for 2 DOF flexible link robot arm when the exact model of the controlled object is known. However, this method does not have robustness to modelling errors. In this paper, we propose an adaptive identification method in order to decrease the modelling error from the control system in which a nominal control law is used. Then, we use the closed loop adaptive identification, considering the movable range of the robot arm. As a result, the high-speed position control can be achieved by using parameter estimates. Its validity of the proposed scheme is shown by a stability analysis and is also illustrated by the experimental results on the frequency response of the link angle and that of the deflection angle.
Keywords: position control; flexible link robot arms; computed torque; robust control; robot control; robot positioning; modelling errors; adaptive identification; parameter estimation; frequency response; link angle; deflection angle.
International Journal of Advanced Mechatronic Systems, 2013 Vol.5 No.1, pp.27 - 36
Received: 08 May 2021
Accepted: 12 May 2021
Published online: 23 Jul 2013 *