Inversion-based nonlinear control of robot arms with flexible links

Luca, Alessandro De; Siciliano, Bruno

doi:10.2514/3.21142

Cited by 89 publications

(45 citation statements)

References 41 publications

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“…However, these controllers offer limited applicability in practical applications due to uncertainties in design models, unmodeled dynamics and ignored high frequency dynamics (de Querioz, Dawson, Agrawal, & Zhang, 1999;Jalili, Elmali, Moura, & Olgac, 1997;Liu, Jalili, Dadfarnia, & Dawson, 2002). Hence, it is highly desirable to seek simple and robust controllers for the control of flexible robot arms (De Luca & Sicilicano, 1993;De Luca & Di Giovanni, 2001;Book, 1990;Yuan, Book, & Huggins, 1993;Dadfarnia, Jalili, Xian, & Dawson, 2003).…”

Section: Introductionmentioning

confidence: 97%

An observer-based piezoelectric control of flexible Cartesian robot arms: theory and experiment

Dadfarnia

Jalili

Liu

et al. 2004

Control Engineering Practice

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Section: Introductionmentioning

confidence: 97%

An observer-based piezoelectric control of flexible Cartesian robot arms: theory and experiment

Dadfarnia

Jalili

Liu

et al. 2004

Control Engineering Practice

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“…Numerous articles have appeared, which discuss the dynamics of robots with compliant links, from both experimental and theoretical viewpoints [1][2][3][4][5][6] . Usually, in this area, only simplified problems are considered.…”

Section: Introductionmentioning

confidence: 99%

Screw theoretic view on dynamics of spatially compliant beam

Ding

Selig

2010

Appl. Math. Mech.-Engl. Ed.

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Beams with spatial compliance can be deformed as bending in a plane, twisting, and extending. In terms of the screw theory on rigid body motions, the concept of "deflection screw" is introduced, a spatial compliant beam theory via the deflection screw is proposed, and the spatial compliance of such a beam system is presented and analysed based on the material theory and fundamental kinematic assumptions. To study the dynamics of the spatially compliant beam, the potential energy and the kinetic energy of the beam are discussed by using the screw theory to obtain the Lagrangian. The Rayleigh-Ritz method is used to compute the vibrational frequencies based on discussions of boundary conditions and shape functions. The eigenfrequencies of the beam with spatial compliance are compared with those of individual deformation cases, pure bending, extension, or torsion. Finally, dynamics of a robot with two spatial compliant links and perpendicular joints is studied using the spatial compliant beam theory. Coupling between the joint rigid body motions and the deformations of spatial compliant links can easily be found in dynamic simulation. The study shows the effectiveness of using the screw theory to deal with the problems of dynamic modeling and analysis of mechanisms with spatially compliant links.

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“…with y = 0 in place of Eq. (3.4)), because the zero dynamics is stable in this case [13]. The direct extension of an inversion control law to the tip output (3.4) leads to closed-loop instabilities, due to non-admissible feedback cancellation effects.…”

Section: S T a B L E I N V E R S I O N C O N T R O Lmentioning

confidence: 99%

Trajectory control of flexible manipulators

Luca

1998

Lecture Notes in Control and Information Sciences

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We present some feedback control techniques recently developed for the exact solution of trajectory tracking problems for manipulators with flexible elements. Two classes are considered: i) robots with rigid links but with elastic transmissions, in which flexibility is concentrated at the joints, and ii) robots with lightweight and/or long arms, where flexibility is distributed along the links. For robots with elastic joints, we introduce a generalized inversion algorithm for the synthesis of a dynamic feedback control law that gives input-output decoupling and full state linearization. For robots with flexible links, the end-effector trajectory tracking problem is solved based on the iterative computation of the link deformations associated with the desired output motion, combined with a state trajectory regulator. For both robot models, the control design is performed directly on the second-order dynamic equations. I n t r o d u c t i o nModeling robot manipulators as rigid mechanical systems is an idealization that becomes unrealistic when higher performance is requested. Tasks involving fast motion and/or hard contact with the environment are expected to induce deflections in the robot components, eventually exciting an oscillatory behavior. There are two sources of vibration in robot manipulators: joint flexibility, due to the elasticity of motion transmission elements such as harmonic drives, belts, or long shafts [26], and link flezibility, introduced by a long reach and slender/lightweight construction of the arm [6,17]. In order to be able to counteract the negative effects of flexibility, advanced robot control systems should be designed on the basis of a more complete dynamic model of the robot (see, e.g. [27] and [5])In robotic systems with flexible elements, output trajectories are typically defined beyond the structural flexibility, i.e. in terms of link motion for robots with elastic joints or at the level of manipulator tip for robots with link flexibility. We address in this chapter the stable and accurate reproduction of such trajectories using model-based state feedback control. Standard tools for solving trajectory tracking problems in nonlinear systems, such as feedback linearization, input-output decoupling, or inversion control (see, e.g. [19]), are not sufficient in these cases, so that the application of more advanced control techniques should be investigated.

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Inversion-based nonlinear control of robot arms with flexible links

Cited by 89 publications

References 41 publications

An observer-based piezoelectric control of flexible Cartesian robot arms: theory and experiment

An observer-based piezoelectric control of flexible Cartesian robot arms: theory and experiment

Screw theoretic view on dynamics of spatially compliant beam

Trajectory control of flexible manipulators

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