TY - GEN
T1 - An Input-Output Feedback Linearization Approach to the Motion Control of Flexible Joint Manipulators
AU - Montoya-Chairez, J.
AU - Moreno-Valenzuela, J.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - In robot manipulators, the joint flexibility may be or not introduced intentionally. Thus, flexible joint robots (FJRs) are useful in aerospace applications and human rehabilitation, for example. Besides, FJRs appear in industrial manipulators. The feedback linearization control has been applied to many mechatronics systems, including FJRs. However, if spring damping between the links and rotors is present, the state feedback linearization design is no longer feasible. In order to overcome this situation, in this paper, an input-output feedback linearization approach is developed to achieve trajectory tracking control of FJRs. The study is complemented with simulation results, which validates the proposed theory. By assuming the presence of spring damping, a comparison between the known state feedback linearization technique and the proposed input-output feedback linearization is given, showing better results for the introduced approach.
AB - In robot manipulators, the joint flexibility may be or not introduced intentionally. Thus, flexible joint robots (FJRs) are useful in aerospace applications and human rehabilitation, for example. Besides, FJRs appear in industrial manipulators. The feedback linearization control has been applied to many mechatronics systems, including FJRs. However, if spring damping between the links and rotors is present, the state feedback linearization design is no longer feasible. In order to overcome this situation, in this paper, an input-output feedback linearization approach is developed to achieve trajectory tracking control of FJRs. The study is complemented with simulation results, which validates the proposed theory. By assuming the presence of spring damping, a comparison between the known state feedback linearization technique and the proposed input-output feedback linearization is given, showing better results for the introduced approach.
KW - Flexible joint robot (FJR)
KW - Simulations
KW - feedback linearization
KW - internal dynamics
KW - stability
UR - http://www.scopus.com/inward/record.url?scp=85126011793&partnerID=8YFLogxK
U2 - 10.1109/CDC45484.2021.9683086
DO - 10.1109/CDC45484.2021.9683086
M3 - Contribución a la conferencia
AN - SCOPUS:85126011793
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 1426
EP - 1431
BT - 60th IEEE Conference on Decision and Control, CDC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 60th IEEE Conference on Decision and Control, CDC 2021
Y2 - 13 December 2021 through 17 December 2021
ER -