Position Control for Flexible Joint Robot Based on Online Gravity Compensation With Vibration Suppression
This paper presents a position control scheme for flexible joint robot based on online gravity compensation (OGC). After concluding some drawbacks of OGC-based PD control law, a nonlinear state feedback controller is designed, where analysis for overshoots of motor side and residual vibration of link side is provided. It is shown that asymptotic stability is guaranteed, and each signal of closed loop system is proved to be bounded via Lyapunov method. Comparing experiment results illustrate effectiveness of the proposed approach.