In this paper, we propose a synchronization controller for flexible joint robots, which are interconnected in a master-slave scheme. The synchronization controller is based on feedback linearization and only requires measurements of the master and slave link positions, since the velocities and accelerations are estimated by means of model-based nonlinear observers. It is shown, using Lyapunov function based stability analysis, that the proposed synchronization controller yields local uniformly ultimately boundedness of the closed loop errors. A tuning gain procedure is presented. The results are supported by simulations in a one degree of freedom master-slave system.
Synchronizing Tracking Control for Flexible Joint Robots via Estimated State Feedback
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division October 22, 2001; final revision, April 22, 2003. Associate Editor: C. D. Rahn.
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Rodriguez-Angeles, A., and Nijmeijer, H. (April 12, 2004). "Synchronizing Tracking Control for Flexible Joint Robots via Estimated State Feedback ." ASME. J. Dyn. Sys., Meas., Control. March 2004; 126(1): 162–172. https://doi.org/10.1115/1.1636197
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