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cs 22(22): e6

Research Article

The application of a optimal controller for the flexible joint robot

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  • @ARTICLE{10.4108/eetcs.v7i22.2681,
        author={Nguyen Cong Danh},
        title={The application of a optimal controller for the flexible joint robot},
        journal={EAI Endorsed Transactions on Cloud Systems},
        volume={7},
        number={22},
        publisher={EAI},
        journal_a={CS},
        year={2022},
        month={9},
        keywords={flexible joint, optimal controller, joint robot},
        doi={10.4108/eetcs.v7i22.2681}
    }
    
  • Nguyen Cong Danh
    Year: 2022
    The application of a optimal controller for the flexible joint robot
    CS
    EAI
    DOI: 10.4108/eetcs.v7i22.2681
Nguyen Cong Danh1,*
  • 1: The single author, District 2, HCMC, Vietnam
*Contact email: congdanh.ptithcm@gmail.com

Abstract

This paper describes the operation of a single Degree of Freedom (DOF) flexible robotic arm by the optimal controller. The derived model is based on Euler- Lagrange approach, while the first and second-order (super twisting) Sliding Mode Control (SMC) is proposed as a nonlinear control strategy. Exploration of a flexible robotic arm with using state-of-the-art controllers is essential for practical applications. This is even more refreshing when these arms have joints that work independently of each other to create a smooth connection between the joints, but it still ensures the natural properties like a real human arm. This system has many similarities with the flexible link system of the MIMO model in its operational state analysis. Control laws must be followed by logical rules in a coherent whole. The next step is to design a controller to fit the structure of the system. The author also compared the use of the above controller with a system without using any controller to determine the effectiveness of using the above controller.

Keywords
flexible joint, optimal controller, joint robot
Received
2022-02-03
Accepted
2022-09-07
Published
2022-09-09
Publisher
EAI
http://dx.doi.org/10.4108/eetcs.v7i22.2681

Copyright © 2022 Nguyen Cong Danh et al., licensed to EAI. This is an open access article distributed under the terms of the CC BY-NC-SA 4.0, which permits copying, redistributing, remixing, transformation, and building upon the material in any medium so long as the original work is properly cited.

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