Feedback Linearizing Controller for a Flexible Single-Link Arm under Gravity and Joint Friction

Cambera, Juan Carlos; Chocoteco, J.; Feliú, V.

doi:10.1007/978-3-319-03653-3_14

Cited by 7 publications

(5 citation statements)

References 18 publications

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“…Then again, for a detailed stability analysis of the PID control system, the controllability and the involutivity of the system should be studied, which is presented by Slotine and Li (1991). The stability of this particular control scheme has also been demonstrated recently in the work of Cambera et al (2013).…”

Section: Inner Loopmentioning

confidence: 71%

A study on the tip tracking control of a single flexible beam

Castillo-Berrio

Engin

Feliu-Batlle

2016

Transactions of the Institute of Measurement and Control

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This sequential paper aims to present studies on modelling and tip tracking control of a flexible single beam. It first outlines the flexible-beam robotic mechanism that was designed and built to be used for the force and torque sensory information-based modelling and control. It then details the vibration suppression controller strategy that is applied to this robotic system. The controller is designed with respect to a simple lumped model describing the dynamics of the system. Here the dynamics of the closed-loop controlled motor is inverted in order to obtain a system with unity dynamics. Further, the flexible-beam dynamics is input state linearized. Finally, a simple external feedback control, which is based on the measurements of beam deflections using a force and torque sensor, is implemented. The complete experimental setup was positioned by two servo-motors controlled by a proportional-integral-derivative controller for each axis. The proposed controllers allow the flexible beam to move continuously in a precise manner, so that it could be treated as an accurate positioning sensor. Simulation and experimental results provided at the end illustrate that the controllers designed and implemented produce a satisfactory control performance and adequate robustness to model uncertainties and system nonlinearities.

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Section: Inner Loopmentioning

confidence: 71%

A study on the tip tracking control of a single flexible beam

Castillo-Berrio

Engin

Feliu-Batlle

2016

Transactions of the Institute of Measurement and Control

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“…In order to validate the proposed identification algorithm, three types of experiments were carried out for three different payloads (m 1 ,m 2 and m 3 ), whose values are shown in table 1. In these experiments, the algebraic controller presented in Cambera et al (2014) was considered to control the motor position, while no controller was used to control the tip position. In any case, it is important to point out that the results presented in this paper do not depends on the motor control algorithm, but only on the motor position and the torque measurements.…”

Section: Resultsmentioning

confidence: 99%

Online Algebraic Identification of the Payload Changes in a Single-Link Flexible Manipulator Moving under Gravity

Rodriguez

Ibañez

Battle

2014

IFAC Proceedings Volumes

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“…The stiffness constant and damping coefficient ] were experimentally identified. A frequency based identification, explained in [26], was considered to adjust the parameter . The damping coefficient ] provided in this table is given for indicative purpose only, and it is not required for the identification algorithm.…”

Section: Methodsmentioning

confidence: 99%

“…These experiments consider three payload masses ( 1 , 2 , 3 ), whose values are given in Table 1. The motor position was controlled using the algebraic controller explained in [26], while no tip vibration control algorithm was considered. It is noteworthy that the algebraic identifier presented does not depend on the control algorithm used for the motor position.…”

Section: Definition Of the Experimentsmentioning

confidence: 99%

Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach

Cambera

San-Millan

Feliu-Batlle

2015

Shock and Vibration

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We deal with the online identification of the payload mass carried by a single-link flexible arm that moves on a vertical plane and therefore is affected by the gravity force. Specifically, we follow a frequency domain design methodology to develop an algebraic identifier. This identifier is capable of achieving robust and efficient mass estimates even in the presence of sensor noise. In order to highlight its performance, the proposed estimator is experimentally tested and compared with other classical methods in several situations that resemble the most typical operation of a manipulator.

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Feedback Linearizing Controller for a Flexible Single-Link Arm under Gravity and Joint Friction

Cited by 7 publications

References 18 publications

A study on the tip tracking control of a single flexible beam

A study on the tip tracking control of a single flexible beam

Online Algebraic Identification of the Payload Changes in a Single-Link Flexible Manipulator Moving under Gravity

Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach

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