Position Tracking Control of Flexible Robot Joints Using Model Predictive Control

Nan Zhe Wei; Han Xu Sun; Qing Xuan Jia; Ping Ye

doi:10.4028/www.scientific.net/AMM.607.799

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 607Position Tracking Control of Flexible Robot Joints...

Position Tracking Control of Flexible Robot Joints Using Model Predictive Control

Abstract:

In this paper, a model predictive controller for the position tracking of flexible robot joints with harmonic drive gears is presented. The control methodology enables the drive's safety and physical constraints on torque and speed variables while guaranteeing the stability of the system. The effect of the predictive horizon on the drive performance is examined. Moreover, the influence of parameter changes is tested in this paper. Experimental results demonstrate the proposed controller is very effective in tracking position references while meeting the demanding drive constraints requirements during operation.

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Periodical:

Applied Mechanics and Materials (Volume 607)

Pages:

799-802

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.607.799

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Online since:

July 2014

Authors:

Nan Zhe Wei*, Han Xu Sun, Qing Xuan Jia, Ping Ye

Keywords:

Flexible Joint, Model Predictive Control, Position Tracking, Torsional Vibration

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* - Corresponding Author

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