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Robust Tracking Control for Flexible Joint Robot Manipulators Using Variable Structure Compensator

Author : Hossam N. Doghiem

Pages : 1110-1116
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Many researches have been carried out to investigate the tracking control problem of robot manipulators. The flexibility of the joints should be taken into account in both modeling and control if high performance is to be achieved. The problem of robust tracking control using a nominal feedback controller and a variable structure compensator for a flexible joint robot manipulator with uncertain dynamics is addressed in this note. It is shown that the effects of large system uncertainties can be eliminated and asymptotic convergence of the output tracking error can be guaranteed by using a variable structure compensator in the closed loop feedback control system. The proposed control scheme is applied on a two-degree of freedom flexible joint robot. A simulation study was carried out. The obtained results verify the effectiveness of the suggested control scheme.

Keywords: Tracking control, Flexible joint robot, Tracking error, Variable structure compensator, Uncertainties, Chattering.

Article published in International Journal of Current  Engineering  and Technology, Vol.4,No.2 (April- 2014)



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