Flatness Based Control of an Industrial Robot Joint Using Secondary Encoders

Jonas Weigand, Nigora Gafur, Martin Ruskowski

In: Robotics and Computer-Integrated Manufacturing 68 Pages 1-13 Elsevier BV 1/2021.


Due to their compliant structure, industrial robots without precision-enhancing measures are only to a limited extent suitable for machining applications. Apart from structural, thermal and bearing de1formations, the main cause for compliant structure is backlash of transmission drives. This paper proposes a method to improve trajectory tracking accuracy by using secondary encoders and applying a feedback and a flatness based feed forward control strategy. For this purpose, a novel nonlinear, continuously differentiable dynamical model of a flexible robot joint is presented. The robot joint is modeled as a two-mass oscillator with pose-dependent inertia, nonlinear friction and nonlinear stiff2ness, including backlash. A flatness based feed forward control is designed to improve the guiding behaviour and a feedback controller, based on secondary encoders, is implemented for disturbance compensation. Using Automatic Differentiation, the nonlinear feed forward controller can be com3puted in a few microseconds online. Finally, the proposed algorithms are evaluated in simulations and experimentally on a real KUKA Quantec KR300 Ultra SE.

Flatness_Based_Control_of_an_Industrial_Robot_Joint_Using_Secondary.pdf (pdf, 1 MB)

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz