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Proxy-Based Sliding Mode Control of Compliant Joint Manipulators

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Informatics in Control, Automation and Robotics

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 370))

Abstract

The use of traditional position controllers in robots working in close proximity to people can lead to risks that result from the unexpected physical human-robot interactions (pHRI). To obtain effective tracking during normal operations, and retain the ability to recover from position errors in a smooth and damped manner, following contacts with external objects/agents, Proxy-based Sliding Mode Control (PSMC) has been proposed. While the efficacy of this controller in fully actuated manipulators has been studied, its use in underactuated systems has not yet been considered. This paper introduces PSMC for a class of underactuated systems. Specifically it considers the control of flexible joint manipulators with passive elastic elements in series with the motors. The Proxy-based Sliding Mode Control is developed to address the stability requirements of this type of dynamic system, while a torque controller to regulate the output torque of the actuation units is designed using Feedback Linearization and Linear Quadratic optimal control approaches. The performance of the proposed scheme is demonstrated in dynamic simulation of an anthropomorphic compliant robot arm.

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Notes

  1. 1.

    The Signum of an arbitrary variable \(\xi \) is defined as \(sgn(\xi )=\textstyle \frac{\xi }{|\xi |}\) which is undefined at \(\xi =0\).

  2. 2.

    This relation can be simply proved from \(\delta =sgn(\rho -\delta )\Leftrightarrow \delta =sat(\rho )\).

  3. 3.

    The Saturation or Clipping function of an arbitrary variable \(\xi \) is defined as \(sat(\xi )=\textstyle \frac{\xi }{max(1,|\xi |)}\).

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Acknowledgments

This work is supported by the European Research Council under EU FP7-ICT projects SAPHARI No. 287513 and WALK-MAN No. 611832.

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Authors and Affiliations

  1. Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy

    Navvab Kashiri, Nikos G. Tsagarakis & Darwin G. Caldwell

  2. Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium

    Michäel Van Damme & Bram Vanderborght

Authors
  1. Navvab Kashiri
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  2. Nikos G. Tsagarakis
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  3. Michäel Van Damme
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  4. Bram Vanderborght
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  5. Darwin G. Caldwell
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Corresponding author

Correspondence to Navvab Kashiri .

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Editors and Affiliations

  1. Polytechnic Institute of Setúbal INSTICC, Setúbal, Portugal

    Joaquim Filipe

  2. Ford Research & Adv. Engineering, Dearborn, Michigan, USA

    Oleg Gusikhin

  3. Univ Paris-Est Creteil (UPEC), Créteil, France

    Kurosh Madani

  4. Carleton University, Mechanical and Aerospace Engineering, Ottawa, Ontario, Canada

    Jurek Sasiadek

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Kashiri, N., Tsagarakis, N.G., Van Damme, M., Vanderborght, B., Caldwell, D.G. (2016). Proxy-Based Sliding Mode Control of Compliant Joint Manipulators. In: Filipe, J., Gusikhin, O., Madani, K., Sasiadek, J. (eds) Informatics in Control, Automation and Robotics. Lecture Notes in Electrical Engineering, vol 370. Springer, Cham. https://doi.org/10.1007/978-3-319-26453-0_14

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