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Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point

Published online by Cambridge University Press:  25 November 2019

Ali FayaziOpen the ORCID record for Ali Fayazi[Opens in a new window],
Naser Pariz,
Ali Karimpour,
V. Feliu-Batlle and
S. Hassan HosseinNia
Ali Fayazi*
Affiliation:
Department of Electrical Engineering, Vali-e-Asr University of Rafsanjan, Rafsanjan, Iran
Naser Pariz
Affiliation:
Department of Electrical Engineering, Ferdowsi University of Mashhad, Mashhad, IranDepartment of Electrical, Electronics, and Control Engineering, University of Castilla-La Mancha, Ciudad Real 13071, Spain
Ali Karimpour
Affiliation:
Department of Electrical Engineering, Ferdowsi University of Mashhad, Mashhad, IranDepartment of Electrical, Electronics, and Control Engineering, University of Castilla-La Mancha, Ciudad Real 13071, Spain
V. Feliu-Batlle
Affiliation:
Department of Electrical Engineering, Ferdowsi University of Mashhad, Mashhad, IranDepartment of Electrical, Electronics, and Control Engineering, University of Castilla-La Mancha, Ciudad Real 13071, Spain
S. Hassan HosseinNia
Affiliation:
Department of Electrical Engineering, Ferdowsi University of Mashhad, Mashhad, IranDepartment of Electrical, Electronics, and Control Engineering, University of Castilla-La Mancha, Ciudad Real 13071, SpainDepartment of Precision and Microsystems Engineering, Delft University of Technology, Delft, Netherlands
*
*Corresponding author. E-mail: a.fayazi@vru.ac.ir
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Summary

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This paper proposes an adaptive robust impedance control for a single-link flexible arm when it encounters an environment at an unknown intermediate point. First, the intermediate collision point is estimated using a collision detection algorithm. The controller, then, switches from free to constrained motion mode. In the unconstrained motion mode, the exerted force to environment is nearly zero. Thus, the reference trajectory is a prescribed desired trajectory in position control. In the constrained motion mode, the reference trajectory is determined by the desired target dynamic impedance. The simulation results demonstrate the efficiency of proposed control scheme.

Keywords

Impedance controlAdaptive sliding mode controllerSingle-link flexible manipulatorsUnknown intermediate pointDisturbance observer

Information

Type
Articles
Information
Robotica , Volume 38 , Issue 9 , September 2020, pp. 1642 - 1664
Copyright
© Cambridge University Press 2019

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