Design Process of High Dynamics Multi-Link Flexible Robot Manipulators

Solatges, Thomas; Rognant, Mathieu; Rubrecht, Sébastien; Courteille, Eric; Bidaud, Philippe

doi:10.1115/detc2017-67721

Cited by 1 publication

(1 citation statement)

References 13 publications

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“…Traditional control schemes, such as standard PID (proportional-integral-derivative) regulators widely used in industrial controllers, have been demonstrated to be unsatisfactory to ensure effective compensation of unwanted elastic deformations. Therefore, attention should be paid to the synthesis of either optimal command generation techniques [2][3][4] or active vibration control schemes [5][6][7][8][9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Deformation Control in Rest‐to‐Rest Motion of Mechanisms with Flexible Links

Caracciolo

Richiedei

Trevisani

2018

Shock and Vibration

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This paper develops and validates experimentally a feedback strategy for the reduction of the link deformations in rest-to-rest motion of mechanisms with flexible links, named Delayed Reference Control (DRC). The technique takes advantage of the inertial coupling between rigid-body motion and elastic motion to control the undesired link deformations by shifting in time the position reference through an action reference parameter. The action reference parameter is computed on the fly based on the sensed strains by solving analytically an optimization problem. An outer control loop is closed to compute the references for the position controllers of each actuator, which can be thought of as the inner control loop. The resulting multiloop architecture of the DRC is a relevant advantage over several traditional feedback controllers: DRC can be implemented by just adding an outer control loop to standard position controllers. A validation of the proposed control strategy is provided by applying the DRC to the real-time control of a four-bar linkage.

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