Enhanced Physical Interaction Performance for Compliant Joint Manipulators using Proxy-based Sliding Mode Control

Navvab Kashiri, Nikos G. Tsagarakis, Michael Van Damme, Bram Vanderborght, Darwin G. Caldwell

2014

Abstract

The use of typical position controllers for robots working around humans can involve some risks when unintended physical human-robot interactions occur. In order to benefit from a proper tracking performance during normal operations, and a smooth and damped recovery from position errors due to contacts with external objects/agents, Proxy-based Sliding Mode Control was proposed. While the efficacy of this controller in fully actuated manipulators was discussed, the employment of this controller in underactuated systems has not been studied so far. This paper introduces a control scheme to implement this controller in a class of underactuated systems. Specifically, the control of flexible joint manipulators possessing passive elastic elements in series with motors is studied. The formulation of Proxy-based Sliding Mode Control is adopted according to the stability requirements of this type of dynamic systems, and a torque controller required for the regulation of the the output torque of actuation units is designed using the Feedback Linearization and the Linear Quadratic optimal control approach. The performance of the proposed scheme is demonstrated in dynamic simulation of an anthropomorphic compliant arm.

Paper Citation

in Harvard Style

Kashiri N., Tsagarakis N., Van Damme M., Vanderborght B. and Caldwell D. (2014). Enhanced Physical Interaction Performance for Compliant Joint Manipulators using Proxy-based Sliding Mode Control . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 175-183. DOI: 10.5220/0005063201750183

in Bibtex Style

@conference{icinco14,
author={Navvab Kashiri and Nikos G. Tsagarakis and Michael Van Damme and Bram Vanderborght and Darwin G. Caldwell},
title={Enhanced Physical Interaction Performance for Compliant Joint Manipulators using Proxy-based Sliding Mode Control},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={175-183},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005063201750183},
isbn={978-989-758-040-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Enhanced Physical Interaction Performance for Compliant Joint Manipulators using Proxy-based Sliding Mode Control
SN - 978-989-758-040-6
AU - Kashiri N.
AU - Tsagarakis N.
AU - Van Damme M.
AU - Vanderborght B.
AU - Caldwell D.
PY - 2014
SP - 175
EP - 183
DO - 10.5220/0005063201750183