Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
Control of Flexible Joint Manipulator with Feedback Linearization and Compensation by Gaussian Process
Submission Author:
Gabriel da Silva Lima , Turku
Co-Authors:
Gabriel da Silva Lima, Wallace Moreira Bessa
Presenter: Gabriel da Silva Lima
doi://10.26678/ABCM.COBEM2019.COB2019-1999
Abstract
Flexible joint model for robotic arms is suitable in the context of imperfections in the connection between the link and its base. The development of accurate control systems for these systems relies on adequate compensation for uncertain dynamics. In this work, a new control scheme is presented for a flexible joint manipulator. Feedback Linearization and Gaussian Process Regression are combined to solve the trajectory tracking problem. Numerical results confirm the stronger improved performance of the proposed control scheme.
Keywords
Flexible joint, feedback linearization, gaussian process regression, Trajectory Tracking
