NDLI: Finite-time position/force control for flexible joint manipulators

Content Provider	IEEE Xplore Digital Library
Author	Cao Qianlei Li Shurong Zhao Dongya
Copyright Year	2014
Description	Author affiliation: Coll. of Inf. & Control Eng., China Univ. of Pet. (East China), Qingdao, China (Cao Qianlei; Li Shurong) \|\| Coll. of Chem. Eng., China Univ. of Pet. (East China), Qingdao, China (Zhao Dongya)
Abstract	For the problem of position and force trajectory tracking of flexible joint manipulators whose motion is constrained in the end, a finite-time position/force control strategy is proposed using adaptive terminal sliding mode. Firstly, position control and force control are decoupled according to the coordinate transformation and a reduced dynamic model for the manipulator is obtained. Then a new terminal sliding mode is established and an adaptive position/force control law is designed to overcome the uncertainties of the dynamic model. The system variables can be driven to reach the terminal sliding mode and slide to equilibrium point along the mode in finite time. Unlike previous position/force control strategies, this strategy can make both position and force tracking errors of the manipulator converge to zero in finite time. Simulation results are presented to validate the proposed method.
Starting Page	2346
Ending Page	2351
File Size	1475916
Page Count	6
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6897000
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	constrained manipulator Tracking Force position/force control Manipulators Educational institutions adaptive control Electronic mail Force control Joints finite time control flexible joint
Content Type	Text
Resource Type	Article

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