发表机构
German Aerospace Center (DLR)（德国航空航天中心）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对实际中精确关节刚度模型难获取的问题，提出一种自适应控制方法用于电机位置控制的柔性关节机器人，通过更新不确定非线性扭矩 - 挠度关系估计，结合隐式控制律等考虑不确定关节刚度，实验验证了该方法的有效性。
AI 中文摘要
基于模型的具有位置控制执行器的柔性关节机器人控制依赖于关节柔顺性的准确知识。实际中，由于物理弹性元件特性随运行条件变化且因磨损老化随时间缓慢变化，精确刚度模型常不可用。为改进此类系统的基于模型控制，本文提出一种自适应控制方法，更新各关节不确定、非线性扭矩 - 挠度关系的估计。与非弹性机器人的经典自适应控制方法不同，我们依靠隐式控制律和依赖控制输入的回归矩阵来考虑不确定关节刚度。分析了该方法对电机位置控制器引起误差的鲁棒性。在具有非线性刚度特性的柔性关节上的实验结果证明了该方法的有效性。
英文摘要
Model-based control of flexible joint robots with position-controlled actuators relies on accurate knowledge of the joint compliance. In practice, precise stiffness models are often unavailable as the properties of physical elastic elements vary with operating conditions and slowly change over time due to wear and aging. To improve model-based control of these systems, we propose an adaptive control approach in this work, which updates an estimate of the uncertain, nonlinear torque-deflection relation of each joint. As opposed to classical adaptive control approaches for non-elastic robots, we rely on an implicit control law and a control-input-dependent regressor matrix to account for the uncertain joint stiffness. We analyze robustness of the approach against errors induced by the motor position controller. Experimental results on a flexible joint with nonlinear stiffness characteristics demonstrate the effectiveness of the proposed approach.
CommentsAccepted for publication at the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2026)
