Performance limitations of joint variable-feedback controllers due to manipulator structural flexibility

The flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the measure of performance to be applied determine the technology appropriate to overcome this obstacle. Included in the technologies proposed are control algorithms (feedback and feedforward), passive damping enhancement, operational strategies, and structural design. Modeling of the distributed, nonlinear system is difficult, and alternative approaches are discussed. The author presents personal perspectives on the history, status and future directions in this area.

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“…• Adaptive algorithms that ignore flexibility do not eliminate or greatly improve the vibration problem (Cetinkunt and Book, 1990).…”

Section: Feedback Control Algorithmsmentioning

confidence: 99%

Controlled Motion in an Elastic World

Book

1993

Journal of Dynamic Systems, Measurement, and Control

172

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“…Moreover, joint-based inversion is of straightforward application to any multilink flexible structure, and the use of nonlinear feedback overcomes the typical performance limitations of linear feedback of the joint variables. 35 In this paper, the assumed modes method is adopted for modeling deflection of flexible arms. This approach leads to closed-form equations of motion that are general enough to accurately handle complex robotic structures.…”

Section: The Design Of Inversion-based Nonlinear Control Laws Solvingmentioning

confidence: 99%

Inversion-based nonlinear control of robot arms with flexible links

Luca

Siciliano

1993

Journal of Guidance, Control, and Dynamics

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“…To address this issue, several control methods to suppress the vibration have been developed [1]- [7]. The resonance ratio control [2] is one of the effective control methods of two-mass resonant system.…”

Section: Introductionmentioning

confidence: 99%

Force Servoing by Flexible Manipulator Based on Resonance Ratio Control

Katsura

Ohnishi

2005

Proceedings of the IEEE International Symposium on Industrial Electronics, 2005. ISIE 2005.

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This paper presents a force servoing control method to suppress torsional vibration of two-mass resonant system. The resonance ratio control is one of the effective control methods of two-mass resonant system. In this method, the ratio between the resonant frequency of motor and arm is determined arbitrary according to the feedback of estimated reaction torque. The reaction torque is estimated by using position sensitive detector (PSD). Since the estimation method does not need the parameter identification, the torsion information is obtained with accuracy.To attain the affinity and adaptability to environment, motion systems should control the reaction torque from the environment. In the force servoing system, the force command is given as a disturbance of the arm portion. The arm disturbance is observed by the arm disturbance observer. The proposed force servoing system is based on both the conventional PD control and the resonance ratio control and the determination method of pole placement is discussed. The proposed force servoing system can realize both the suppression of the inner torsional reaction torque and the adaptation to unknown outer force inputs. The numerical and experimental results show viability of the proposed method. Arm Motor m J a J f K Arm Motor m J a J f K Fig. 1. Model of flexible manipulator 2 ref m J 1 J J K

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Performance limitations of joint variable-feedback controllers due to manipulator structural flexibility

Cited by 57 publications

References 44 publications

Controlled Motion in an Elastic World

Controlled Motion in an Elastic World

Inversion-based nonlinear control of robot arms with flexible links

Force Servoing by Flexible Manipulator Based on Resonance Ratio Control

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