End-Effector Tracking Control for Structurally Flexible Manipulators

Carusone, J.; Buchan, K.; D’Eleuterio, Gabriele M. T.

doi:10.23919/acc.1989.4790406

Cited by 3 publications

(1 citation statement)

References 8 publications

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“…The controller was implemented in numerical simu lation. The passive control which was achieved by attaching a viscoelastic layer on the elastic beam was suggested to avoid the spillover problem due to the neglecting of higher frequency modes, and to permit the use a low order controller.Carusone, Buchan and D'Eleuterio[35] derived a control law for the control of flexible manipulators. The control law was derived by using the optimal linear quadratic regulator problem whose performance index incorporated the first and sec ond time derivatives of the control inputs to produce smooth control inputs.…”

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Modeling and control of a two-arm elastic robot in gravity

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Modeling and control of a two-arm elastic robot in gravity

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Tracking control for end‐effector position and orientation of structurally flexible manipulators

Carusone¹,

D’Eleuterio²

1993

J. Robotic Syst.

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A simple and effective feedback control strategy is presented for end‐effector position and orientation tracking of structurally flexible manipulators free of external forces as in space applications. The fully feedback‐driven approach employs an augmented dynamical description in which derivatives of the control inputs are included in the state. This ensures smooth control inputs to the manipulator joints. The feedback law uses gain scheduling of a series of steady‐state regulators derived by considering the manipulator at intermediate (nominally rigid and stationary) configurations along the desired trajectory. The performance of the control method is demonstrated in simulations of a planar three‐link manipulator system. Examples show that the controller can be applied successfully in discrete‐time, and that spillover does not appear to be a problem.

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Motor-based control of manipulators with flexible joints and links

Yuan

Lin

Proceedings., IEEE International Conference on Robotics and Automation

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A motor-based decoupling and partial (input-output) linearization approach to the control of multi-link robots with joint and link flexibilities is studied in this paper. The control strategy consists of two parts: nominal tracking control and perturbed stabilization control. The nominal tracking control derived by the differential geometric structure algorithm is an input-output decoupling and partial linearization feedback law capable of precise motor-based trajectory tracking, but the zero dynamics of the unobservable nonlinear elastic subsystem remains unstable. In order to actively suppress the elastic vibrations, it is necessary to sacrifice the perfect motor-based tracking capability somewhat by introducing a perturbation control in the vincinity of a desired trajectory. The perturbed stabilization control synthesized by combined LQR and servocompensator is used to achieve active damping of elastic vibration and robust tracking of motor dynamics. To offset the tracking errors of the end effector caused by joint and link deflections due to gravity, the quasi-static deflections can be taken into account in the trajectory planning and LQ regulator.A two-link arm is tested via simulation.

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End-Effector Tracking Control for Structurally Flexible Manipulators

Cited by 3 publications

References 8 publications

Modeling and control of a two-arm elastic robot in gravity

Modeling and control of a two-arm elastic robot in gravity

Tracking control for end‐effector position and orientation of structurally flexible manipulators

Motor-based control of manipulators with flexible joints and links

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