Tracking control of a flexible robot link

Davis, Jon H.; Hirschorn, R.M.

doi:10.1109/9.401

Cited by 33 publications

(15 citation statements)

References 13 publications

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“…Euler equation models are often formulated in terms of energy variables [4]. The model below is also formulated in energy terms, with definitions and identifications made parallel to the Euler and rigid-body cases where possible.…”

Section: The Basic Modelmentioning

confidence: 99%

“…This property makes control difficult unless one adopts control schemes that either employ forces at the load points of the structural member [4] or are distributed [1]. One solution to this difficulty is to use an auxiliary controller that modifies the "external behavior" of the original structural member in such a way that the original beam essentially appears rigid as far as the rest of the overall system is concerned (see, for example, [1,4].…”

Section: Tendon Control Modelmentioning

confidence: 99%

“…While the assumption of small deflections is reasonable in many situations, and has been used in control of flexing space structures (see, for example, [2,4,9], our interest is in the modeling and design of control schemes for high-performance robotic manipulators that use light materials and may be subject to deflections beyond the validity of the Euler theory models. In fact, the motivation for the model is a physical system that has an inextensible centerline of the structural member, but which, by use of distributed controls, can be caused to achieve large transverse deflections as part of an overall control scheme.…”

Section: Introductionmentioning

confidence: 99%

“…Other models for flexible members essentially treat the structure as a single spring and ignore the effects of modes of vibration altogether [6]. In addition, many models consider a single spatial dimension of flexure, or propose superposition of the single-dimensional results to model the motions of a single link in threedimensional space (see, for example, [1,4,6]). …”

Section: Introductionmentioning

confidence: 99%

“…This superposition may take the form of explicit addition of vibration modes to the system model, as in [1][2][3], or may be implicit by the use of some variant of a Euler equation model in the formulation of the distributed system model (see, for example, [1,4,5]. One problem with this approach is that it is hard to determine the number of modes to retain, and there can be problems with the stability and robustness of the controller [3].…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

A model for the embedded tendon control of a slender three-dimensional flexible robot link

Davis

Hirschorn

1994

Dynamics and Control

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Abstract. In this article we develop a model for a very flexible link that incorporates distributed controls and can be caused to achieve large transverse deflections as part of an overall control scheme. This ability opens the possibility of combining structural and position control actuator functions ~vithin a single lightweight physical device (with inextensible centerline). Emphasis is placed on presenting a basic model for this situation in terms and variables that are useful for integration with the conventions of conventional rigid-body robot dynamics.

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Section: The Basic Modelmentioning

confidence: 99%

Section: Tendon Control Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A model for the embedded tendon control of a slender three-dimensional flexible robot link

Davis

Hirschorn

1994

Dynamics and Control

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Tip position control of flexible single‐link manipulators in the frequency domain without model reduction

Mohsenipour,

Liu

2024

Intl J Robust & Nonlinear

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This article develops the fundamentals of the tip position control of flexible single‐link robotic manipulators in the frequency domain without approximating the model. Analytic transfer functions of the hub angle and tip position are derived without any model order reduction. Conditions for the stability of the transfer functions are presented by considering the payload mass change as an uncertain parameter. Using the D‐decomposition method, a simple procedure is introduced to design an output feedback controller which guarantees the stability and a desired tracking performance. The introduced design method leads to less conservatism comparing with design methods established upon model reduction. The controller structure includes two proportional‐derivative and integral loops and needs only two measurements of joint angle and tip position which are easily implementable. A numerical example is provided to demonstrate the merit of the achieved results.

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Hamiltonian description and dynamic control of flexible robots

1989

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The article is concerned with the problem of modeling and control of flexible robots. This problem is faced by using the Hamiltonian approach and the assumed modes method to obtain an approximate finite dimensional model of the robot dynamics. The pseudo‐linearization method is then applied to design a nonlinear control law that is effective in the neighborhood of the operating points. The article ends with an application to a single‐link robot arm.

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Tracking control of a flexible robot link

Cited by 33 publications

References 13 publications

A model for the embedded tendon control of a slender three-dimensional flexible robot link

A model for the embedded tendon control of a slender three-dimensional flexible robot link

Tip position control of flexible single‐link manipulators in the frequency domain without model reduction

Hamiltonian description and dynamic control of flexible robots

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