Proxy based position control for flexible joint robot with link side energy feedback

Abstract In this paper, a set-point regulation scheme for flexible joint robot (FJR) with link side energy (LSE) feedback is introduced. The drawbacks of traditional PD-type control laws are analyzed first. On this basis, a nonlinear regulator is designed by combining proxy based sliding mode control with LSE feedback, which is targeted at enhancement of vibration suppression. Asymptotic stability of the closed-loop system as well as boundedness of each signal are guaranteed with Lyapunov analysis. Furthermore, vibration suppression ability and robustness against external disturbances of the proposed method is validated on a self-built FJR platform.