Open Access
Lyapunov Based Control of Flexible Joint Manipulator with Experimental Validation by Using Chaotic Gyroscope Synchronization
TLDR
In this paper, a nonlinear control for trajectory tracking and vibration control of a flexible joint manipulator by using chaotic gyroscope synchronization is presented, which is based on Lyapunov stability theory and some generic sufficient conditions for global asymptotic control are attained.Abstract:
This paper presents a nonlinear control for trajectory tracking and vibration control of a flexible joint manipulator by using chaotic gyroscope synchronization. To study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. Based on Lyapunov stability theory, the nonlinear controller and some generic sufficient conditions for global asymptotic control are attained. In this study, the anti-control is applied to reduce the deflection angle of flexible joint system. To achieve this goal, the chaos dynamic must be created in the flexible joint system. So, the flexible joint system has been synchronized to chaotic gyroscope system. In this study, control and anti-control concepts are applied to achieve the high quality performance of flexible joint system. It is trying to design a controller which is capable to satisfy the control and anti-control aims. The performances of the proposed control are examined in terms of input tracking capability and level of vibration reduction. Finally, the efficacy of the proposed method is validated through experimentation on QUANSER's flexible joint manipulator.read more
Citations
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Journal ArticleDOI
Coexistence of single- and multi-scroll chaotic orbits in a single-link flexible joint robot manipulator with stable spiral and index-4 spiral repellor types of equilibria
TL;DR: In this article, the dynamics of a single-link flexible joint (SLFJ) robot manipulator were analyzed using phase portrait, Lyapunov spectrum, instantaneous phase plot, Poincare map, parameter space, bifurcation diagram, 0-1 test and frequency spectrum plot.
Journal ArticleDOI
A model-based velocity controller for chaotization of flexible joint robot manipulators: Synthesis, analysis, and experimental evaluations
TL;DR: A rigorous theoretical analysis based on Lyapunov’s theory is used to prove the asymptotic stability of the tracking error signals when using the proposed controller, which implies that a chaotic motion is induced to the robotic system.
Proceedings ArticleDOI
Flexible joint manipulator based on backstepping controller
TL;DR: In this paper, a back-stepping method is proposed to control flexible joint manipulator including the dynamic of actuator to obtain the desired trajectory with minimum vibration, which is achieved by the analysis of Lyapunov stability to guarantee the stability of the system.
Proceedings ArticleDOI
Lyapunov rule-based fuzzy control and chaotic anti-control for flexible joint system and analysis of chaotic signal existence effectiveness with experimental validation
TL;DR: In this paper, a chaotic anti-control for flexible joint manipulators is proposed, which is composed of a Lyapunov rule-based fuzzy control and chaotic signals for target tracking.
Design and Manufacturing of a Mechatronic Device for Torque Estimation in Online Robotic Applications
TL;DR: In this article, the authors presented a low-cost and reliable device for measuring the actuating torque and consumed power of each joint of a robotic manipulator in object manipulation tasks.
References
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Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Journal ArticleDOI
Synchronization in chaotic systems
TL;DR: This chapter describes the linking of two chaotic systems with a common signal or signals and highlights that when the signs of the Lyapunov exponents for the subsystems are all negative the systems are synchronized.
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Robot dynamics and control
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.
Journal ArticleDOI
A simple PD controller for robots with elastic joints
TL;DR: In this paper, the point-to-point control of a manipulator with three revolute elastic joints is considered and it is shown that a simple PD controller, similar to that used for rigid robots, suffices to globally stabilize the elastic joint robots about a reference position.
Journal ArticleDOI
An integral manifold approach to the feedback control of flexible joint robots
TL;DR: The control problem for robot manipulators with flexible joints is considered and it is shown how to approximate the feedback linearizing control to any order in µ, an approximate feedback linearization which linearizes the system for all practical purposes.