Control of a Single Flexible-Intelligent Link Robot ?
نویسندگان
چکیده
A novel approach to the control of a single joint-single flexible link robot is proposed and experimentally evaluated. The control is completely signal based, and relies on joint trajectory pre-planning plus collocated vibration control of the flexible link through piezoelectric actuation. Trajectory pre-planning is a well known strategy for avoiding link vibrations during maneuvers, however it has limited robustness to parameter uncertainty. Experimental work is reported where the link parameters are biased from their original values by adding a small mass at the tip. It is verified that when pre-planning is combined with collocated vibration control system performance is significantly improved.
منابع مشابه
Control of Flexible Link Robot using a Closed Loop Input-Shaping Approach
This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop c...
متن کاملNonlinear Stabilizing Controller for a Special Class of Single Link Flexible Joint Robots
Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...
متن کاملAdaptive Inverse Control of Flexible Link Robot Using ANFIS Based on Type-2 Fuzzy
This paper presents a novel adaptive neuro-fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part. The capability of the proposed ANFIS2 for function approximation and dynamical system identification is remarkable. The structure of ANFIS2 is very sim...
متن کاملBoundary Feedback Stabilization of a Nonlinear Flexible Gantry Manipulator Using Disturbance Observer
This paper aims to develop a boundary control solution for a single-link gantry robot manipulator with one axis of rotation. The control procedure is considered with link’s transverse vibrations while system undergoes rigid body nonlinear large rotation and translation. Initially, based on Hamilton principle, governing equations of hybrid motions as a set of partial differential equations...
متن کاملFlexible Foot/Ankle Based on PKM with Force/Torque Sensor for Humanoid Robot
This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...
متن کاملRobust Fractional-order Control of Flexible-Joint Electrically Driven Robots
This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...
متن کامل