Force control of a constrained one‐link flexible arm : A distributed‐parameter modeling approach

Liu, Liang-Yih; Yuan, King

doi:10.1080/02533839.2003.9670798

Cited by 5 publications

(14 citation statements)

References 18 publications

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“…36,53 In accordance with the context of this paper,ˆs 2 1+μŝ = −β 4 is used whenever it is appropriate. 36,53 In accordance with the context of this paper,ˆs 2 1+μŝ = −β 4 is used whenever it is appropriate.…”

Section: Appendixmentioning

confidence: 99%

“…16 Additionally, the exact solutions for the closed-loop system cannot be obtained. 36 The results were satisfactory, but the internal material damping was not considered 36 so that it may not be suitable for general situations. 36 The results were satisfactory, but the internal material damping was not considered 36 so that it may not be suitable for general situations.…”

Section: Introductionmentioning

confidence: 99%

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Tip-contact force control of a single-link flexible arm using feedback and parallel compensation approach

Liu

Lin

2013

Robotica

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In this paper, the force control of a constrained onelink flexible arm is investigated using a feedback parallel compensation algorithm based on a linear distributed parameter model with internal damping of Kelvin-Voigt type. Generally, the non-collocation of the joint torque input and the tip contact force output comes along with the non-minimum phase in nature. To overcome this inherent limitation, a new input induced by the measurement of rootbending moment and its derivative, and a virtual contact force output generated by a parallel compensator are defined. Therefore, the transfer function from the new input to the virtual contact force output is proved not only strictly minimum phase but also in a stable condition. A PD controller then improves the performance of the overall closed-loop system. Furthermore, the perfect asymptotic tracking of a desired contact force trajectory with internal stability can be achieved accurately. The exact solutions of the infinite-dimensional system are obtained using the infinite product formulation. The proposed system promises stability robustness to parameter uncertainties, also free of spillover problems. Numerical simulations are provided to verify the effectiveness of the proposed approach.

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Section: Appendixmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Tip-contact force control of a single-link flexible arm using feedback and parallel compensation approach

Liu

Lin

2013

Robotica

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“…The θ (t) designates the hub rotation angle, and v(x,t) denotes the small elastic deflection of the link. The constraint equations of motion and boundary conditions are well-established [13], and introduce the new variable w(x,t) as…”

Section: Mathematical Modelmentioning

confidence: 99%

“…Liu and Lin [14] further worked on the constrained one-link flexible arm with internal material damping. However, the passive property was not proved in these studies [13,14]. In this paper we develop a linear distributed parameter model to obtain an exact solution to the above contact force regulation problem.…”

Section: Introductionmentioning

confidence: 99%

“…Additionally, the exact solutions for the closed-loop system can not be obtained [12]. Recently, the infinite product formulation has been utilized to design a PD controller for a linear distributed parameter model in the constrained one-link flexible arm [13]. Liu and Lin [14] further worked on the constrained one-link flexible arm with internal material damping.…”

Section: Introductionmentioning

confidence: 99%

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Passivity-Based Integral Control and Stability Analysis of a Constrained Single-Link Flexible Arm

Liu

Lin

2013

Transactions of the Canadian Society for Mechanical Engineering

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The design of flexible manipulator is complicated due to inherently infinite dimension in nature. The sequential challenge is the problem such a non-minimum phase that is the cause of system instability. In this paper, a constrained single-link flexible arm is fully investigated using a linear distributed parameter model. In order to overcome the inherent limitations, a new input induced by the joint angular acceleration and an output generated using the contact force and root shear force are defined. A necessary and sufficient condition is thus derived so that all poles and zeros of the new transfer function lie on the imaginary axis. Also, the passive integral control is designed to accomplish the regulation of the contact force. The excellent performance of the passive integral controller is verified through numerical simulations.

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Contact Force Control of Three-Dimensional Flexible Manipulator

Sasaki¹,

S²,

Maeno³

et al. 2020

Preprint

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This paper proposes a contact force controller for a constrained flexible manipulator in three-dimensional motion. This controller used the conversion formula obtained empirically and experimental results showed the effectiveness of the proposed contact force controller. First, the manipulator was operated with the tip of the second link restrained, then, time response of the root strain, joint angles and contact force were used to derive the relational between the three quantities. The effectiveness of the relational expression was verified by conducting a target contact force tracking experiment by inputting the angle from the relational expression. The contact force control using the strain feedback method was proposed with the strain amount estimated from the target contact force as the target value, and its effectiveness was verified by experiments. From the results obtained, controller using the strain feedback method was designed for the purpose of controlling the contact force at the tip of a flexible manipulator with two links and three degrees of freedom that performs three-dimensional spatial motion, and its effectiveness was shown by comparison with the contact force feedback method.

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Force control of a constrained one‐link flexible arm : A distributed‐parameter modeling approach

Cited by 5 publications

References 18 publications

Tip-contact force control of a single-link flexible arm using feedback and parallel compensation approach

Tip-contact force control of a single-link flexible arm using feedback and parallel compensation approach

Passivity-Based Integral Control and Stability Analysis of a Constrained Single-Link Flexible Arm

Contact Force Control of Three-Dimensional Flexible Manipulator

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