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A Two-Stage State Feedback Controller Supported by Disturbance-State Observer for Vibration Control of a Flexible-Joint Robot

Published online by Cambridge University Press:  19 August 2019

Minh-Nha Pham ,
Philippe Hamelin ,
Bruce Hazel  and
Zhaoheng Liu Open the ORCID record for Zhaoheng Liu [Opens in a new window]
Minh-Nha Pham
Affiliation:
Department of Mechanical Engineering, École de technologie supérieure, Université du Québec, Quebéc, Canada. E-mail: minh-nha.pham.1@ens.etsmtl.ca
Philippe Hamelin
Affiliation:
Inspection and Maintenance Robotics, Research Institute of Hydro-Québec, Varennes, Quebéc, Canada. E-mails: hamelin.philippe@ireq.ca, hazel.bruce@ireq.ca
Bruce Hazel
Affiliation:
Inspection and Maintenance Robotics, Research Institute of Hydro-Québec, Varennes, Quebéc, Canada. E-mails: hamelin.philippe@ireq.ca, hazel.bruce@ireq.ca
Zhaoheng Liu*
Affiliation:
Department of Mechanical Engineering, École de technologie supérieure, Université du Québec, Quebéc, Canada. E-mail: minh-nha.pham.1@ens.etsmtl.ca
*
*Corresponding author. E-mail: zhaoheng.liu@etsmtl.ca
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Summary

Joint flexibility introduces additional degrees of freedom and vibration modes, thus limiting the performance of the manipulator. To improve control bandwidth, this paper proposes an enhanced two-stage state feedback (SFB) controller, which combines two parts. The first is a SFB loop, which considers the motor position as a virtual control input for the link side dynamics. The second is a disturbance-state observer, which compensates disturbances and reconstructs indirect measurements. Experimental results show the effectiveness of the proposed controller in terms of position tracking, link vibration, and rejection of the kinematic error from the joint’s harmonic drive reducer.

Keywords

Flexible-joint robotTwo-stage state feedback controlDisturbance observerState observerVibration suppression
Type
Articles
Information
Robotica , Volume 38 , Issue 6 , June 2020 , pp. 1082 - 1104
Copyright
© Cambridge University Press 2019

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