Joint torque control of flexible joint robots based on sliding mode technique

International Journal of Advanced Robotic Systems

Gen-LiangXiong¹ 

关键词: Torque control;    flexible joint;    sliding mode;   

DOI  :  10.1177/1729881419846712

学科分类：自动化工程

来源: InTech

【 摘 要 】

For robots with flexible joints, the joint torque dynamics makes it difficult to control. An effective solution is to carry out a joint torque controller with fast enough dynamic response. This article is dedicated to design such a torque controller based on sliding mode technique. Three joint torque control approaches are proposed: (1) The proportional-derivative (PD)-type controller has some degree of robustness by properly selecting the control gains. (2) The direct sliding mode control approach which fully utilizes the physical properties of electric motors. (3) The sliding mode estimator approach was proposed to compensate the parameter uncertainties and the external disturbances of the joint torque system. These three joint torque controllers are tested and verified by the simulation studies with different reference torque trajectories and under different joint stiffness.

【 授权许可】

CC BY