Proceedings ArticleDOI
Robust torque control of an elastic robotic arm based on invertibility and feedback stabilization
Sahjendra N. Singh,Albert A. Schy +1 more
- Vol. 24, Iss: 24, pp 1317-1322
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TLDR
Simulation results show that, in spite of uncertainties in the payload and vehicle angular velocity, good joint angle control and damping of elastic oscillations are obtained with the torquer control law u=ud+us.Abstract:
We present an approach to the control of elastic robotic systems for space applications using inversion, servocompensation, and feedback stabilization. For simplicity, a robot arm (PUMA-type) with three rotational joints is considered. The third link is assumed to be elastic. Using an inversion algorithm, a non-linear decoupling control law, ud, is derived such that in the closed loop system, independent control of joint angles by the three joint torquers is accomplished. For the stabilization of elastic oscillations, a linear feedback torquer control law, us, is obtained applying linear quadratic optimization to the linearized arm model augmented with a servocompensator about the terminal state. Simulation results show that, in spite of uncertainties in the payload and vehicle angular velocity, good joint angle control and damping of elastic oscillations are obtained with the torquer control law u=ud+us.read more
Citations
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Journal ArticleDOI
Control of flexible manipulators: A survey
Mouhacine Benosman,G. Le Vey +1 more
TL;DR: A survey of the field of control for flexible multi-link robots is presented, indicating in each case whether the approach deals with the one-link case, which can be successfully treated via linear models, or with the multi- link case which necessitates nonlinear, more complex, models.
Journal ArticleDOI
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
Trajectory control of a non-linear one-link flexible arm
TL;DR: In this article, a trajectory tracking control problem for a one-link flexible arm described by a non-linear model is considered, and two meaningful system outputs are chosen; namely, the joint angle and the angular position of a suitable point along the link.
Journal ArticleDOI
Vibrations in a moving flexible robot arm
P.K.C. Wang,Jin-Duo Wei +1 more
TL;DR: In this paper, the vibration in a flexible robot arm modeled by a moving slender prismatic beam is considered and it is found that the extending and contracting motions have destabilizing and stabilizing effects on the vibratory motions, respectively.
Journal ArticleDOI
Robust Nonlinear Attitude Control of Flexible Spacecraft
TL;DR: In this paper, an approach to large-angle rotational maneuvering of a spacecraft-beam-tip body configuration based on nonlinear invertibility and linear feedback stabilization is presented.
References
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Journal ArticleDOI
Feedback control of two beam, two joint systems with distributed flexibility
TL;DR: In this paper, three types of linear feedback control schemes are considered: joint angle and velocity feedback with (GRC) and without (IJC) cross joint feedback, and feedback of flexible state variables (FFC).
Journal ArticleDOI
Controller Design for Flexible, Distributed Parameter Mechanical Arms Via Combined State Space and Frequency Domain Techniques
Wayne J. Book,Mark Majette +1 more
TL;DR: In this article, the potential benefits of the ability to control more flexible mechanical arms are discussed and a new controller design procedure is developed to provide this capability using both a frequency domain representation and a state variable representation of the arm model.
Journal ArticleDOI
Decoupling in a Class of Nonlinear Systems by State Variable Feedback
TL;DR: For a class of nonlinear systems, the authors derived a necessary and sufficient condition for the existence of a state variable feedback control law which accomplishes decoupling, as well as some conditions which characterize the class of decoupled control laws.
Journal ArticleDOI
Output tracking in multivariable nonlinear systems
TL;DR: In this note the class of functions which can appear as outputs is identified for a class of multivariable nonlinear systems and right-inverse systems which act as prefilters are constructed.
Proceedings ArticleDOI
An approach to nonlinear feedback control with applications to robotics
Elmer G. Gilbert,In Ha +1 more
TL;DR: In this theory a unified framework is presented for treating a number of problems in the control of mechanical manipulators and the law is robust in that small changes in it do not produce large steady-state errors or loss of stability.
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