《Dynamic surface controlbackstepping based impedance control for 5DOF flexible joint robots》.pdfVIP

J. Cent. South Univ. Technol. (2010) 17: 807−815 DOI: 10.1007/s11771−010−0560−y Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots 1 1 1 XIONG Gen-liang(熊根良) , XIE Zong-wu(谢宗武) , HUANG Jian-bin(黄剑斌) , 1, 2 1 1 LIU Hong(刘宏) , JIANG Zai-nan(蒋再男) , SUN Kui(孙奎) 1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; 2. Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling 82230, Germany © Central South University Press and Springer-Verlag Berlin Heidelberg 2010 Abstract: A new impedance controller based on the dynamic surface control-backstepping technique to actualize the anticipant dynamic relationship between the motion of end-effector and the external torques was presented. Comparing with the traditional backstepping method that has “explosion of terms” problem, the new proposed control system is a combination of the dynamic surface control technique and the backstepping. The dynamic surface control (DSC) technique can resolve the “explosion of terms” problem that is caused by differential coefficient calculation in the model, and the problem can bring a complexity that will cause the backstepping method hardly to be applied to the practical application, especially to the multi-joint robot. Finally, the validity of the method was proved in the laboratory environment that was set up on the 5-DOF (degree of freedom) flexible joint robot. T