유연관절로봇의 모터 동역학을 정확하게 재설정하기 위한 적분매니폴드 피드백제어 개발
Exact Reshaping of Motor Dynamics in Flexible-Joint Robot using Integral Manifold Feedback Control
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In this paper, an exact reshaping method for the motor dynamics of a flexible-joint robot isproposed using an integral manifold approach. Obtaining the exact model for both motor-side and linksidedynamics of a flexible-joint robot is difficult due to its under-actuated nature and complex dynamics. Despite the simple structure of the motor-side dynamics, they are difficult to model accurately for a flexible-joint robot due to motor disturbances, especially when speed reducers such as harmonic drives areinstalled. An integral manifold feedback control (IMFC) is proposed to reshape the motor dynamics. Based on the integral manifold approach, it is theoretically proved that the IMFC reshapes motor dynamicsexactly even with bounded disturbances such as motor friction. The performance of the proposedIMFC is verified experimentally using a single degree-of-freedom flexible-joint robot under gravity conditions.
Abstract
In this paper, an exact reshaping method for the motor dynamics of a flexible-joint robot isproposed using an integral manifold approach. Obtaining the exact model for both motor-side and linksidedynamics of a flexible-joint robot is difficult due to its under-actuated nature and complex dynamics. Despite the simple structure of the motor-side dynamics, they are difficult to model accurately for a flexible-joint robot due to motor disturbances, especially when speed reducers such as harmonic drives areinstalled. An integral manifold feedback control (IMFC) is proposed to reshape the motor dynamics. Based on the integral manifold approach, it is theoretically proved that the IMFC reshapes motor dynamicsexactly even with bounded disturbances such as motor friction. The performance of the proposedIMFC is verified experimentally using a single degree-of-freedom flexible-joint robot under gravity conditions.
참고문헌 (14)
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