Robust Impedance Control Using Robot Using ISMC and Backstepping in Flexible Joint Robot

• Published in: 한국정보통신학회논문지 Vol. 21; no. 3; pp. 643 - 650
• Main Authors: Sung-Ha Kwon(권성하), Seung-kyu Park(박승규), Min-chan Kim(김민찬)
• Format: Journal Article
• Language: English
• Published: 한국정보통신학회 01.03.2017
• Subjects: 전자/정보통신공학; Backstepping; 적분슬라이딩모드제어; 강인제어; 정합조건; 임피던스제어; 유연관절로봇; Integral Sliding Mode; Mismatched Disturbance; 백스테핑; Flexible Joint Robot; Robust Control; Impedance Control
• ISSN: 2234-4772; 2288-4165
• DOI: 10.6109/jkiice.2017.21.3.643

The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for the flexible joint robot by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition for disturbances. The dynamic model of flexible joint robot is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time. KCI Citation Count: 0