Dynamic surface control-backstepping based impedance control for 5-DOF flexible joint robots

来源期刊：中南大学学报(英文版)2010年第4期

论文作者：熊根良 谢宗武 黄剑斌 刘宏 蒋再男 孙奎

文章页码：807 - 815

Key words：Cartesian impedance control; dynamic surface control; backstepping; PPSeCo; flexible joint robots

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. Tracking errors of DSC-backstepping impedance control that were 2.0 and 1.5 mm are better than those of backstepping impedance control which were 3.5 and 2.5 mm in directions X, Y in free space, respectively. And the anticipant Cartesian impedance behavior and compliant behavior were achieved successfully as depicted theoretically.