A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators

A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators

The control of lightweight flexible manipulators moving along predefined paths is the focus of this work. The flexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full order flexible dynamic system does not allow the determination of a tracking control as for rigid ma~ipulators, since there are not as many control inputs as output variables. Thi~ drawb...

A new Approach to the Multi-Objective Control of Linear Singular Perturbation Systems

Sliding Mode Impedance Control of Flexible Base Moving Manipulators Using Singular Perturbation Method

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new slid...

a new approach to the multi-objective control of linear singular perturbation systems

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Dynamic Load Carrying Capacity of Mobile-Base Flexible-Link Manipulators: Feedback Linearization Control Approach

This paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (DLCC) for mobile-base flexible-link manipulators. In previously proposed methods in the literature of DLCC calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...