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DINAME2019
DINAME2019
Position Stabilization Control of Flexible Joint Manipulator using Feedback Linearization and Gaussian Process Regression
Submission Author:
Gabriel da Silva Lima , Turku
Co-Authors:
Gabriel da Silva Lima, Diego Rolim Porto, Wallace Moreira Bessa, Sebastian Trimpe
Presenter: Gabriel da Silva Lima
doi://10.26678/ABCM.DINAME2019.DIN2019-0177
Abstract
Flexible joint model for robotic arms is suitable both in the context of flexible manipulators and in the case of imperfections in the connection between the link and its base. The development of accurate control systems for these systems relies on the 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 position stabilization problem. Numerical results confirm the stronger improved performance of the proposed control scheme.
Keywords
Flexible joint, feedback linearization, gaussian process regression, position stabilization
