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Adaptive Fuzzy Control of Flexible Joint Robot

Flexible joint model

Introduction to FJR
robots generally have many elastic elements in their transmission systems So,they may result in the occurrence of tensional vibrations when a fast response is required Joint elasticity may arise from several sources , such as elasticity in gears (Harmonic Drives HD) ,belts, tendons, bearings ,and hydraulic lines, Traditional robot control strategies assume joint and link rigidity For more precision and efficiency we should include elastic dynamics in control strategies

There are two models Simplified model (If the inertial couplings between
the motors and the rigid links are neglected - Spong ,1987)

Complete model (If the couplings between the links and the motors are included - Tomei, 1991)

Flexible joint complete model

History of filed research

Primary research
During the first years of considering FJRs (beginning of the 80s) several papers were published. Most of them considered the following items:
1) 2) 3) 4) The necessity of considering flexibility, FJR modeling, Simple controller design, Analysis of the FJR specifications such as controllability.

Continuing the initial path

mean all methods having all or several of the following specifications: Using a Spong model (and accepting his assumptions). Using the Singular Perturbation Method for modeling. Using the Composite Control Strategy with a fast control term to stabilize the fast variable.

Papers continuing the initial path.

Control of Flexible Joint robot

When faces an control problem , two solution approach exist in the literature : Model-based approach
used when system model are completely known ( PID ,pole placement. etc)

Model-free approach
used when we does not have information about the system (ANN , FLSs etc )

Measurement reduction (GOOD)

Reduction in the number of feedback quantities has been always a goal in controller design, Papers considering the number of measurements could be classified into two classes : First, avoiding rate measurement by changing the control strategy Second using observers instead of changing the control strategy

type-2 fuzzy logic controller

From the very beginning of fuzzy sets, criticism was made about the fact that the membership function of a type-1 fuzzy set has no uncertainty associated with it what does one do when there is uncertainty about the value of the membership function? The answer to this question was type-2 FLC

Membershipe in type-2 FLC

Footprint of uncertainty (FOU)

interval type-2 fuzzy set

For an interval type-2 fuzzy set that third-dimension value is the same (e.g., 1) everywhere. So, for such a set, the third dimension is ignored, and only the FOU is used to describe it. for this reason that an interval type-2 fuzzy set is sometimes called a first-order uncertainty fuzzy set model, whereas a general type-2 fuzzy set is sometimes referred to as a second-order uncertainty fuzzy set model.

Typical fuzzy logic controller

Block diagram of a type-2 FLS

Inference process

What I want to do
Design a simple interval type-2 fuzzy logic system Chick the controller stability . Simulate the controller on simulation program and discuss results .

Thank you for your attention

Cascade fuzzy logic control of FJM Reduced rule-based fuzzy control of FJM Adaptive tracking control of FJM

5- Adaptive controllers
The most important deficiency of the integral manifold approach is lack of robustness of parametric uncertainty thus adaptive controllers have been considered since the early years in the FJR literature

Adaptive methods in the FJR literature could be categorized into two major branches: A ) the first approach, called the Inverse Dynamics Adaptive Approach B ) the second approach, called the Slotine and Li Approach,

6- Robust control and stability

Several controllers based on a Lyaponov stability analysis were developed sliding mode configuration adding a term that would continuously retain state on stable trajectories.
7 - Implementation


Several industrial robots have flexible joint(s) due to the use of a harmonic drive in their power transmission system. Among them, PUMA 560 and KUKA IR 160/161

Simplified model
If the gear ratio is high, this is a reasonable approximation as described in, e.g., Spong (1987). The model equations of the simplified flexible joint model are:

Where joint and motor angular positions are denoted respectively.

The friction torque is here approximated as acting on the motor side only.

Complete model
the couplings between the links and the motors are included (Tomei, 1991)