Tip Trajectory Tracking for Multilink Flexible Manipulators Using Stable Inversion
نویسندگان
چکیده
منابع مشابه
Tip Trajectory Tracking for Multilink Flexible Manipulators Using Stable Inversion
The recently developed stable inversion theory for nonminimum phase nonlinear systems is applied to output tracking for multilink exible robot manipulators. The stable inversion theory and a numerical solution to stable inverses are brie y reviewed. Forward dynamics of a two-link exible manipulatorwith tip position as the output is then given using the assumed modes method. From that, an i...
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In this paper a new control strategy is introduced for tip trajectory tracking of flexible-joint manipulators driven by harmonic drives. The proposed controller incorporates friction compensating torque (FCT) and composite controller torque (CCT), which compensate for the friction in the harmonic drives and the flexibility of the joints, respectively. The FCT is a new controller which includes ...
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We consider the inverse dynamics problem for robot arms with, flezible lids, i.e., the computation of the input torque that allows exact tracking of a trajec tor~y definedfor the manipulator end-e flector. A stable inversion controller is derived numerically, based on the computation of bounded link deformations and, from these, of the? equiredfe edforwardtorque associated with, the desired tip...
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Design of output tracking controllers for nonlinear nonminimum phase systems is challenging. Among existing methods the regulation approach usually leads to large transient errors while the classical inversion approach results in unbounded internal dynamics for nonminimum phase systems. In this paper, stable inversion is applied to the design of tip trajectory tracking for a single-link flexibl...
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This paper presents a composite controller for tip position tracking of flexible link manipulators. The main control challenge for flexible link manipulators is the non-minimum phase characteristics of the system. In this regard, an inner/outer control structure is proposed. As opposed to previous research in this area, the desired reference trajectory is robustly modified in an online scheme t...
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ژورنال
عنوان ژورنال: Journal of Guidance, Control, and Dynamics
سال: 1998
ISSN: 0731-5090,1533-3884
DOI: 10.2514/2.4237