Region-Reaching Control of a Flexible-Joint Manipulator

Yu, JW; Zhang, XH; Ji, JC; Tian, JY; Zhou, J

Region-Reaching Control of a Flexible-Joint Manipulator

Yu, JW Zhang, XH Ji, JC Tian, JY Zhou, J

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Publisher:: ASME
Publication Type:: Journal Article
Citation:: JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2020, 142, (11)
Issue Date:: 2020-11-01

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Field	Value	Language
dc.contributor.author	Yu, JW
dc.contributor.author	Zhang, XH
dc.contributor.author	Ji, JC
dc.contributor.author	Tian, JY
dc.contributor.author	Zhou, J
dc.date.accessioned	2021-03-19T02:23:23Z
dc.date.available	2021-03-19T02:23:23Z
dc.date.issued	2020-11-01
dc.identifier.citation	JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2020, 142, (11)
dc.identifier.issn	0022-0434
dc.identifier.issn	1528-9028
dc.identifier.uri	http://hdl.handle.net/10453/147375
dc.description.abstract	<jats:title>Abstract</jats:title> <jats:p>This paper addresses the region-reaching control problem for a flexible-joint robotic manipulator which is formulated by Lagrangian dynamics. An adaptive control scheme is proposed for the manipulator system having two constrained regions which are constructed by selecting appropriate objective functions. The two joints of the flexible-joint manipulator can be, respectively, confined in different regions, and this gives more flexibility than the traditional fixed-point tracking control. By performing a straightforward Lyapunov stability analysis, a simple control algorithm is established to provide a solution for the region-reaching control problem. Finally, numerical simulations are given to validate the theoretical results.</jats:p>
dc.language	English
dc.publisher	ASME
dc.relation.ispartof	JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
dc.relation.isbasedon	10.1115/1.4047697
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	09 Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.title	Region-Reaching Control of a Flexible-Joint Manipulator
dc.type	Journal Article
utslib.citation.volume	142
utslib.for	09 Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
pubs.consider-herdc	false
dc.date.updated	2021-03-19T02:23:22Z
pubs.issue	11
pubs.publication-status	Published
pubs.volume	142
utslib.citation.issue	11

Abstract:

Abstract This paper addresses the region-reaching control problem for a flexible-joint robotic manipulator which is formulated by Lagrangian dynamics. An adaptive control scheme is proposed for the manipulator system having two constrained regions which are constructed by selecting appropriate objective functions. The two joints of the flexible-joint manipulator can be, respectively, confined in different regions, and this gives more flexibility than the traditional fixed-point tracking control. By performing a straightforward Lyapunov stability analysis, a simple control algorithm is established to provide a solution for the region-reaching control problem. Finally, numerical simulations are given to validate the theoretical results.

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http://hdl.handle.net/10453/147375