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Robust Direct Adaptive Fuzzy Control of Flexible Joints Robots with Time-Varying Stiffness/Damping Parameters
Jasim, Ibrahim; Plapper, Peter
2014In Joint 45th International Symposium on Robotics (ISR 2014) and 8th German Conference on Robotics (ROBOTIK 2014)
Peer reviewed
 

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Keywords :
Flexible Joint Robots; Fuzzy Control; Time-Varying Parameters; Robust Adaptive Control
Abstract :
[en] In this article, we address the problem of controlling unknown flexible-joint robots with unknown time-varying stiffness and damping parameters. We propose a Robust Direct Adaptive Fuzzy Control (RDAFC) strategy that accommodates the dynamics anonymity and joints stiffness/damping variations. The RDAFC strategy relies on the synergy of the concepts of fuzzy logic approximation and the Sliding Mode Control (SMC). The fuzzy logic approximation relaxes the need for knowing the robot dynamics and the SMC accommodates the parameters variations. We also modify the RDAFC strategy to be suited to the KUKA Lightweight Robot (LWR) and propose a control strategy that can accommodates dynamics anonymity, uncertainty and joints elasticity variations. Experimental results are performed on a KUKA LWR moving in free space with its joints stiffness and damping vary with time in sine and cosine waveforms respectively. From the experiments, we can see that excellent tracking performance is obtained when using the RDAFC strategy despite the joints elasticity parameters time-variance and the robot dynamics unavailability.
Disciplines :
Mechanical engineering
Author, co-author :
Jasim, Ibrahim ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
Plapper, Peter ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
External co-authors :
no
Language :
English
Title :
Robust Direct Adaptive Fuzzy Control of Flexible Joints Robots with Time-Varying Stiffness/Damping Parameters
Publication date :
02 June 2014
Event name :
Joint 45th International Symposium on Robotics (ISR 2014) and 8th German Conference on Robotics (ROBOTIK 2014)
Event organizer :
International Federation of Robotics (IFR) and German Society for Robotics (DGR)
Event place :
Munich, Germany
Event date :
2-6-2014 to 3-6-2014
Audience :
International
Main work title :
Joint 45th International Symposium on Robotics (ISR 2014) and 8th German Conference on Robotics (ROBOTIK 2014)
Publisher :
VDE
ISBN/EAN :
978-3-8007-3601-0
Peer reviewed :
Peer reviewed
FnR Project :
FNR2955286 - Self-adaptive Fuzzy Control For Robotic Peg-in-hole Assembly Process, 2011 (01/05/2012-30/04/2016) - Ibrahim Fahad Jasim Ghalyan
Name of the research project :
R-AGR-0071 - IRP13 - PROBE (20130101-20151231) - PLAPPER Peter
Available on ORBilu :
since 19 June 2014

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