Control of flexible joint robot system by backstepping design approach
Abstract
The control of flexible joint robot manipulators by backstepping design approach is presented. In contrast with the other controllers for flexible joint robot manipulators, the proposed controller neither assumes weak joint flexibility nor requires joint acceleration measurements. With the proposed controller, the link position and velocity errors converge to zero exponentially fast. The simulation results prove that the proposed controller performs superior to the other controllers as the flexibility increases in the joints.
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Nonlinear control approaches such as computed torque or backstepping are able to deliver high-performance controllers for robot manipulators.
“Nonlinear control approaches, such as computed torque [4] or backstepping [5], are able to deliver high-performance controllers for robot manipulators.”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [5]
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Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator
Wang, Y., Leibold, M., Lee, J., Ye, W., Xie, J., & Buss, M. (2022) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2022.3142629 · Cited by 52 · see citing works
Self-citation
- Authors
- Oh, J. H., & Lee, J. S.
- Affiliations
- Pohang University of Science and Technology (KR)
- Venue
- Proceedings of International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2002-11-22
- Volume
- 4
- Pages
- 3435-3440
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2138367507
- Cited by
- 64
- References
- 27
- Citations by year
- 2025: 4 · 2024: 1 · 2022: 2 · 2021: 2 · 2018: 7 · 2017: 1 · 2016: 4 · 2015: 5 · 2014: 6 · 2013: 4 · 2012: 6
- FWCI
- 0.00
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- Proceedings - IEEE International Conference on Robotics and Automation/Proceedings (publishedVersion)
- Funders
- Pohang University of Science and Technology
- Korea Science and Engineering Foundation
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Engineering › Mechanical Engineering › Control Systems in Engineering
- Keywords
- flexible joint robot manipulator, backstepping control, joint flexibility, exponential convergence, position and velocity tracking, robot manipulator control
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