Abstract:
A nonlinear tracking controller for the link-tip positions and velocities of a multi-link flexible robot arm that gives guaranteed performance is designed. The controller...Show MoreMetadata
Abstract:
A nonlinear tracking controller for the link-tip positions and velocities of a multi-link flexible robot arm that gives guaranteed performance is designed. The controller has three loops: an outer tracking loop, an inner loop based on input-output feedback linearization, and an additional inner loop that stabilizes the internal dynamics, e.g., the flexible modes, using a singular perturbation design. It is found that the flexible mode trajectories have two parts. One part depends algebraically on the desired tip positions. A boundary layer correction part can be used to stabilize the flexible motion.<>
Date of Conference: 02-06 May 1993
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-8186-3450-2
References is not available for this document.
Select All
1.
H. Asada, Z.-D. Ma and H. Tokumaru, "Inverse dynamics of flexible robot arms: modeling and computation for trajectory control", J. Dynam. Systems. Measurement and Control, vol. 112, pp. 177-185, June 1990.
2.
W. J. Book, "Modeling design and control of flexible manipulator arms: a tutorial review", Proc. IEEE Conf. Decision and Control, pp. 500-506, 1990-Dec.
3.
S. Cetinkunt and W. J. Book, "Flexibility effects on the control system performance of large-scale robotic manipulators", J. Astronautical Sci., vol. 38, no. 4, pp. 531-556, Oct.-Dec. 1990.
4.
A. Das and S. N. Singh, "Dual mode nonlinear adaptive control and stabilization of an elastic robot arm", Proc. IEEE Conf. Decision and Control, pp. 2659-2660, 1990-Dec.
5.
J. H. Davis and R. M. Hirschorn, "Tracking Control of a flexible robot link", IEEE Trans. Automat. Control, vol. 33, no. 3, pp. 238-248, Mar. 1988.
6.
J. Hauser, S. Sastry and P. Kokotovic, "Nonlinear control via approximate input-output linearization: the ball and beam example", IEEE Trans. Automat. Control, vol. 37, no. 3, pp. 392-398, Mar. 1992.
8.
K. Khorasani, "Nonlinear feedback control of flexible joint manipulators: a single link case study", IEEE Trans. Automat. Control, vol. 35, no. 10, pp. 1145-1149, Oct. 1990.
9.
P. V. Kokotovic, "Applications of singular perturbation techniques to control problems", SIAM Review, vol. 26, no. 4, pp. 501-550, Oct. 1984.
10.
D.-S. Kwon and W. J. Book, "An inverse dynamic method yielding flexible manipulator state trajectories", Proc. American Control Conf, pp. 186-193, 1990.
11.
F. L. Lewis, D. M. Dawson, J. Lin and K. Liu, "Tank gun-pointing control with barrel flexibility effects", ASME WAM, vol. 31, pp. 47-54, 1991.
12.
J. Lin and F. L. Lewis, "Dynamic equations of a manipulator with rigid and flexible links: derivation and symbolic computation", Proc. American Control Conf., 1993-June.
13.
S.-H. Lin, S. Tosunoglu and D. Tesar, "Control of a six-degree-of-freedom flexible industrial manipulator", IEEE Control Systems Magazine, pp. 24-30, April 1990.
14.
S. K. Madhavan and S. N. Singh, "Inverse trajectory control and zero dynamics sensitivity of an elastic manipulator", Proc. American Control Conf., 1991.
15.
W. T. Qian and C. C. H. Ma, "A new controller design for a felxible one-link manipulator", IEEE Trans.. Automat. Control, vol. 37, no. 1, pp. 132-137, Jan. 1992.
16.
D. M. Rovner and G. F. Franklin, "Experiments in load-adaptive control of a very flexible one-link manipulator", Automatica, vol. 24, no. 4, pp. 541-548, 1988.
17.
Y. Sakawa and Z. H. Luo, "Modeling and control of coupled bending and torsional vibrations of flexible beams", IEEE Trans. Automat. Control, vol. 34, no. 9, pp. 970-977, Sept. 1989.
18.
V. Sangveraphunsiri and W. J. Book, "An approach to the minimum time control of a simple flexible arm" in Control of Manufacturing Processes and Robotics, ASME, Dec. 1983.
19.
B. Siciliano, B.-S. Yuan and W. J. Book, "Model reference adaptive control of a one link flexible arm", Proc. IEEE Conf. Decision and Control, 1986.
20.
B. Siciliano and W. Book, "A singular perturbation approach to control of lightweight manipulators", Int. J. Robotics Research, vol. 7, no. 4, pp. 79-90, Aug. 1988.
21.
K. S. Yeung and Y. P. Chen, "Regulation of a one-link flexible robot arm using sliding-mode technique", Int. J. Control, vol. 49, no. 6, pp. 1965-1978, 1989.
22.
B. S. Yuan, W. J. Book and J. D. Higgins, "Control of a multi-link flexible manipulator with a decentralized apoproach", Proc. IFAC World Congress, 1990.
23.
D. Wang and M. Vidyasagar, "Transfer functions for a single link flexible link", Int. J. Robotics Research, vol. 10, no. 5, Oct. 1991.
24.
D. Wang and M. Vidyasagar, "Control of a class of manipulators with a single flexible link - Part I: feedback linearization", Trans. ASME. J. Dynam. Sys. Meas. and Control, vol. 113, pp. 655-661, Dec. 1991.
