Journal of Electrical Engineering and Technology

The Korean Institute of Electrical Engineers (대한전기학회)
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Torque Sensorless Decentralized Position/Force Control for Constrained Reconfigurable Manipulator via Non-fragile H∞ Dynamic Output Feedback

  • Zhou, Fan (Department of Control Science and Engineering, Changchun University of Technology) ;
  • Dong, Bo (Department of Control Science and Engineering, Changchun University of Technology) ;
  • Li, Yuanchun (Department of Control Science and Engineering, Changchun University of Technology)
  • Received : 2016.05.10
  • Accepted : 2017.07.27
  • Published : 2018.01.01
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Abstract

This paper studies the decentralized position/force control problem for constrained reconfigurable manipulator without torque sensing. A novel joint torque estimation scheme that exploits the existing structural elasticity of the manipulator joint with harmonic drive model is applied for each joint module. Based on the estimated joint torque and dynamic output feedback technique, a decentralized position/force control strategy is presented. In order to solve the problem of controller parameter perturbation, the non-fragile robust technique is introduced into the dynamic output feedback controller. Subsequently, the stability of the closed-loop system is proved using the Lyapunov theory and linear matrix inequality (LMI) technique. Finally, two 2-DOF constrained reconfigurable manipulators with different configurations are applied to verify the effectiveness of the proposed control scheme in numerical simulation.

Keywords

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Fig. 1. Exploded view of a harmonic drive showing thethree components

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Fig. 2. Kinematic representation of a harmonic driveshowing the three ports

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Fig. 3. Typical stiffness and hysteresis curve of a harmonicdrive

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Fig. 4. Configurations for simulation (a) configuration a(b) configuration b

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Fig. 5. The analytic charts of the configurations: (a)Configuration a; (b) Configuration b

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Fig. 6. (a) Position tracking performance of configuration a(b) Position tracking error of configuration a

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Fig. 7. (a) Equivalent torque of configuratio n a: (b)Equivalent torque tracking error of configuration a

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Fig. 8. Force tracking curves and force tracking error ofconfiguration a

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Fig. 9. (a) Position tracking performance of configurationb; (b) Position tracking error of configuration b

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Fig. 10. (a) Equivalent torque of configuration b ; (b)

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Fig. 11. Force tracking curves and force tracking error of

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