Hostname: page-component-cd9895bd7-dzt6s Total loading time: 0 Render date: 2024-12-18T18:12:49.516Z Has data issue: false hasContentIssue false
  • English
  • Français

Inverse dynamics and feedforward controllers for high precision position/force tracking of flexible joint robots

Published online by Cambridge University Press:  09 March 2009

Krzysztof P. Jankowski  and
Hoda A. Elmaraghy
Krzysztof P. Jankowski
Affiliation:
Flexible Manufacturing Centre, Faculty of Engineering, McMaster University, Hamilton, Ontario (Canada) L8S 4L7
Hoda A. Elmaraghy
Affiliation:
Flexible Manufacturing Centre, Faculty of Engineering, McMaster University, Hamilton, Ontario (Canada) L8S 4L7
Get access Rights & Permissions [Opens in a new window]

Summary

A nonlinear feedback control based on inverse dynamics is proposed for robots with flexible joints during constrained motion task execution. Based on constrained system formalism, the presented control scheme achieves simultaneous, independent control of both position and contact force at the robot end-effector. The method can be directly applied to robot control, or it can be used as the basis for developing other advanced control strategies. In this paper, a. feedforward controller is considered. Issues related to the practical application of the full inverse dynamics and feedforward control algorithms, such as evaluation of feedback variables, the use of predictors to eliminate the time delay of digital control, and the design of robust controllers, are discussed. The results of extensive numerical simulation are used to show the effectiveness of the proposed controllers and to compare their performances. It is shown that it is possible to achieve high precision tracking if the appropriate predictors are used to eliminate the effect of computational delay of the digital controller. Applying a straightforward approach for robustness of the proposed controllers has additionally improved the trajectory tracking accuracy.

Keywords

Inverse dynamicsFeedforward controllersPrecision trackingFlexible joint robotsForce control
Type
Article
Information
Robotica , Volume 12 , Issue 3 , May 1994 , pp. 227 - 241
Copyright
Copyright © Cambridge University Press 1994

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

REFERENCES

1. Raibert, M.H. and Craig, J.J., “Hybrid position/force control of manipulators” ASME J. Dynamic Systems, Measurement, and Control 102, 126–133 (06, 1981).CrossRefGoogle Scholar
2. Khatib, O., “A unified approach for motion and force control of robot manipulators: the operational space formulation” IEEE J. Robotics and Automation RA-3, 43–53 (02, 1987).CrossRefGoogle Scholar
3. Kankaanranta, R.K. and Koivo, H.N., “Dynamics and simulation of compliant motion of a manipulator” IEEE J. Robotics and Automation 4, 163–173 (04, 1988).CrossRefGoogle Scholar
4. McClamroch, N.H. and Wang, D., “Feedback stabilization and tracking of constrained robots” IEEE Trans. on Automatic Control 33, 419–426 (05, 1988).CrossRefGoogle Scholar
5. Mills, J.K. and Goldenberg, A.A., “Force and position control of manipulators during constrained motion tasks” IEEE Trans. on Robotics and Automation 5, 30–46 (02, 1989).CrossRefGoogle Scholar
6. Yoshikawa, T., “Dynamic hybrid position/force control of robot manipulators-description of band constraints and calculation of joint driving force” IEEE J. Robotics and Automation RA-3, 386–392 (10, 1987).CrossRefGoogle Scholar
7. Cole, A.A., “Control of robot manipulators with constrained motion,” Proc. 28th IEEE Conf. on Decision and Control, Tampa, FL, (1989) pp. 1657–1658.CrossRefGoogle Scholar
8. Good, M.C., Sweet, L.M. and Strobel, K.L., “Dynamic models for control system design of integrated robot and drive systems” ASME J. Dyn. Syst., Meas., and Contr., 107, 53–59 (03, 1985).CrossRefGoogle Scholar
9. Eppinger, S.D. and Seering, W.P., “Three dynamic problems in robot force control” Proc. IEEE Conf on Robotics and Automation, Scottsdale, AZ, pp. 392–397 (1989).Google Scholar
10. Krishnan, H. and McClamroch, N.H., “A new approach to position and contact force regulation in constrained robot system” Proc. IEEE Conf. on Robotics and Automation, Cincinatti, OH (1990) pp. 1344–1349.CrossRefGoogle Scholar
11. Mills, J.K., “Control of robotic manipulators with flexible joints during constrained motion task execution” Proc. 28th IEEE Conf. on Decision and Control, Tampa, FL (1989) pp. 1676–1681.CrossRefGoogle Scholar
12. Spong, M.W., “On the force control problem for flexible joint manipulators” IEEE Trans. on Automatic Control, 34, 107–111 (01, 1989).CrossRefGoogle Scholar
13. Jankowski, K.P. and ElMaraghy, H.A., “Dynamic control of flexible joint robots with constrained end-effector motion” Preprints 3rd IFAC Symp. on Robot Control (SYROCO'91), Vienna (1991) pp. 345–350.Google Scholar
14. Jankowski, K.P. and ElMaraghy, H.A., “Dynamic decou pling for hybrid control of rigid/flexible joint robots interacting with the environment” IEEE Trans. on Robotics and Automation 8, No. 5, 519–534 (1992).CrossRefGoogle Scholar
15. Lipkin, H. and Duffy, J., “Hybrid twist and wrench control for a robotic manipulator” Trans. ASME J. Mechanisms, Transmissions, and Automation in Design 110, 138–144 (06, 1988).CrossRefGoogle Scholar
16. Mason, M.T., “Compliance and force control for computer controlled manipulators” IEEE Trans. on Syst., Man and Cybern SMC-11, 418–432 (06, 1981).CrossRefGoogle Scholar
17. Jankowski, K.P. and ElMaraghy, H.A., “Constraint formulation for invariant hybrid position/force control of robots” (Submitted for publication in ASME J. of Dynamic Systems, Measurement, and Control, 1992).Google Scholar
18. Jankowski, K.P., “Dynamics of controlled mechanical systems with material and program constraints Part I-III” Mechanism and Machine Theory 24, No. 3, 175–193 (1989).CrossRefGoogle Scholar
19. Spong, M.W., “Modelling and control of elastic joint robots” ASME J. Dyn. Syst., Meas., and Contr. 109, 310–319 (12, 1987).CrossRefGoogle Scholar
20. Jankowski, K.P. and Brussel, H. Van, “An approach to discrete inverse-dynamics control of flexible joint robots” IEEE Trans. on Robotics and Automation 8, No. 5, 651–658 (1992).CrossRefGoogle Scholar
21. Markiewicz, B.R., “Analysis of the computed-torque drive method and comparison with the conventional position servo for a computer-controlled manipulator” Tech. Memo. 33–601 (Jet Propulsion Lab., Pasadena, CA, 1973).Google Scholar
22. An, C.H., Atkeson, C.G., Griffiths, J.D. and Hollerbach, J.M., “Experimental evaluation of feedforward and computed torque control” IEEE Trans. on Robotics and Automation 5, 368–373 (06, 1989).CrossRefGoogle Scholar
23. Khosla, P.K. and Kanade, T., “Real-time implementation and evaluation of computed-torque scheme” IEEE Trans. on Robotics and Automation 5, 245–253 (04, 1989).CrossRefGoogle Scholar
24. Hollars, M.G., “Experiments in end-point control of manipulators with elastic drives” Ph.D. Thesis (Stanford University, Department of Aeronautics and Astronautics, Stanford, CA, 1988) (also published as SUDAAR 568).Google Scholar
25. Kubo, T., Anwar, G. and Tomizuka, M., “Application of nonlinear friction compensation to robot arm control” Proc. IEEE Conf. on Robotics and Automation, San Francisco, CA (1986) p. 722–727.Google Scholar
26. Wit, C. Canudas De, Nöel, P., Aubin, A., Brogliato, B. and Drevet, P., “Adaptive friction compensation in robot manipulators: low-velocities” Proc. IEEE Conf. on Robotics and Automation, Scottsdale, AZ (1989) pp. 1352–1357.Google Scholar
27. Faemler, H., “Manipulators constrained by stiff contact: dynamics, control, and experiments” Int. J. Robotics Research 9, 40–58 (08, 1990).Google Scholar
28. Gilbert, E.G. and Ha, I.J., “An approach to nonlinear feedback control with applications to robotics” IEEE Trans. on Systems, Man, and Cybernetics SMC-14, 879–884 (11/12, 1984).CrossRefGoogle Scholar
29. Singh, S.N. and Schy, A.A., “Robust trajectory following control of robotic systems” ASME J. Dyn. Syst., Meas., and Contr. 107, 308–315 (12, 1985).CrossRefGoogle Scholar
30. Kuo, C.Y. and Shay-Ping Wang, T., “Nonlinear robust industrial robot control” ASME J. Dyn., Syst., Meas., and Contr. 111, 24–30 (03, 1989).CrossRefGoogle Scholar
31. Spong, M.W. and Vidyasagar, M., “Robust linear compensator design for nonlinear robotic control” IEEE J. Robotics and Automation RA-3, No. 4, 345–351 (1987).CrossRefGoogle Scholar
32. Leitmann, G., “On the efficacy of nonlinear control in uncertain linear systems” ASME J. Dyn. Syst., Meas., and Contr. 102, 95–102 (06, 1981).CrossRefGoogle Scholar
33. Jankowski, K.P. and ElMaraghy, H.A., “Inverse dynamics control of multiple robot arms with flexible joints” 1993 IEEE Conf. on Robotics and Automation, Atlanta, GA, vol. 3 (1993) pp. 996–1003.CrossRefGoogle Scholar
34. Baumgarte, J.W., “Stabilization of constraints and integrals of motion in dynamical systems” Computational Methods in Applied Mechanics and Engineering 1, No. 1, 1–16 (1972).CrossRefGoogle Scholar