J.B. Huang, Z.W. Xie, H. Liu, and K. Sun
Adaptive control, Cartesian impedance control, friction compensation, DSP/FPGA, multipoint low voltage differential signalling (M-LVDS), flexible joint
In this paper, an adaptive Cartesian impedance control structure is proposed for harmonic drive manipulator. By considering the viscous, payload-based and motor position-based friction, the proposed control algorithm aims at achieving a desired stiffness and damping in Cartesian coordinates and adaptively compensating the joint friction. For the closed loop system, a formal stability analysis of the proposed controller is proven. In addition, a DSP/FPGA structure with multipoint low voltage differential signalling (M-LVDS) serial data bus communication is proposed to perform the adaptive controller. Furthermore, the effectiveness of this approach is demonstrated by experiments on a 4-DOF manipulator with harmonic drives.
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