Adaptive Hierarchical Sliding Mode Control Method for Flexible Joint Robot Based on Negative Torque Feedback
In order to overcome the difficulty in capturing linear changes and improve the poor stability of control output torque caused by the strong dynamic characteristics of flexible joint robots,a self-adaptive layered sliding mode control method based on negative torque feedback for flexible joint robots is proposed.The linear relationship and inertia law changes between the robotic arm and joint movements are analyzed,and with the introduction of adaptive methods,a slow variable synovial control law function is established.Negative torque feedback is innovatively combined to solve the relationship between robot joint state and balance point membership,joint torque is reasonably controlled,and adaptive layered sliding mode control is completed for flexible joint robots.The experimental data shows that the application of the proposed method results in the smallest difference between the control trajectory and the expected trajectory with high control accuracy,suitable for various flexible joints and stable in control output torque.