Control of Very Lightweight 2-DOF Single-Link Flexible Robots Robust to Strain Gauge Sensor Disturbances: A Fractional-Order Approach
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TLDR
An innovative control system is designed to remove vibrations using the singular perturbation theory combined with the input-state linearization technique, which includes fractional-order controllers that nearly remove unknown sensor offset and sensor ramp disturbances while reducing the high-frequency component of the control signal caused by sensor noise.Abstract:
This article deals with the control of two degrees of freedom manipulators that have a flexible and very lightweight link. These robots have a single low-frequency and high-amplitude vibration mode. Their actuators have high friction, and their vibration sensors are often strain gauges that have offset and high-frequency noise. These problems reduce the robot precision and produce noisy control signals that saturate actuators. An efficient control system is proposed to overcome these drawbacks. Actuator friction effect is nearly removed by closing a high gain position control loop around the actuator. It causes the separation of the robot dynamics into the controlled actuator fast subsystem and the link dynamics slow subsystem. Based on that, an innovative control system is designed to remove vibrations using the singular perturbation theory combined with the input-state linearization technique. This control system includes fractional-order controllers that nearly remove unknown sensor offset and sensor ramp disturbances while reducing the high-frequency component of the control signal caused by sensor noise. Simulated and experimental results show the superior performance of these controllers over other standard integer-order controllers of similar complexity and nominal behavior.read more
Citations
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A Review on Fractional-Order Modelling and Control of Robotic Manipulators
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Fractional Control of a Lightweight Single Link Flexible Robot Robust to Strain Gauge Sensor Disturbances and Payload Changes
TL;DR: In this article, a method to control one degree of freedom lightweight flexible manipulators is investigated, which is based on the combination of the singular perturbation theory and the input-state linearization technique.
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A Fast Online Estimator of the Main Vibration Mode of Mechanisms from a Biased Slightly Damped Signal
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References
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Inversion Techniques for Trajectory Control of Flexible Robot Arms
TL;DR: A simple but meaningful nonlinear dynamic model of a one-link flexible arm is used to illustrate different feasible control strategies and the effects of the system output choice on the closed-loop stability and on the overall tracking performance are reported.
Journal ArticleDOI
Input-state feedback linearization control of a single-link flexible robot arm moving under gravity and joint friction
TL;DR: For the parameters of the physical platform two studies are presented to demonstrate that the single lumped mass model is a proper description of the system even in situations in which the link mass is up twice bigger than the payload mass.
Journal ArticleDOI
End-point vibration sensing of planar flexible manipulators through visual servoing
Luca Bascetta,Paolo Rocco +1 more
TL;DR: In this paper, a visual servoing approach to the control of planar flexible robotic manipulators is adopted, where the camera sensor is used together with the strain gauge measurements, to estimate the tip deformation.
Journal ArticleDOI
Vibration-free position control for a two degrees of freedom flexible-beam sensor
TL;DR: In this paper, a position control for a two degree of freedom flexible-beam made of a composite material, whose aim is to control the tip of the flexible beam by decreasing the vibration when the beam moves, is presented.
Journal ArticleDOI
Design of Trajectories with Physical Constraints for very Lightweight Single Link Flexible Arms
TL;DR: In this article, the authors developed a new, objective method of designing a trajectory that can be used as a modified input, to cancel tip vibrations during robot manoeuvres, which takes into account the constraints found in real actuators (DC-motors), such as the maximum torque the motor can supply, and also those due to the mechanical limits of the link, like the maximum deflection before reaching the elastic limit of a link.