Optimal Feedback Linearization Control of a Flexible Cable Robot
نویسندگان
چکیده
In this paper the flexible cable robot tracking is controlled using optimal feedback linearization method. Feedback linearization is used to control the robot within a predefined trajectory while its controlling gains are optimized using LQR method to achieve the maximum payload of the endeffector in presence of flexibilities. Required motors’ torque and tracking error caused by flexibility uncertainties are calculated for a predefined trajectory of an under constrained cable robot with six Degrees of Freedom (DOF) and six actuating cables while its cables are considered elastic. Robust controller is also designed and added to the controller to ensure the accuracy and stability of the system and cancel any disturbing effects of the uncertainties. A series of analytic simulation study is done for the mentioned spatial cable robot to show the flexibility effect on dynamic performance of the robot and also prove the superiority of the proposed optimal control strategy to compensate these flexibilities. Finally the results are compared and verified with experimental results of the cable robot of ICaSbot to verify the proposed controlling strategy for controlling the mentioned flexible robot and also prove the correctness of the simulations. Keywords Cable Robot, Flexible Cables, Optimal Feedback Linearization Control
منابع مشابه
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 ...
متن کاملCONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY
A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...
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 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 کاملadaptive control of two-link robot manipulator based on the feedback linearization method and the proposed neural network
This paper proposes an adaptive control method based on the feedback linearization technique and a proposed neural network, for tracking and position control of an industrial manipulator. At first, it is assumed that the dynamics of the system are known and the control signal is constructed by the feedback linearization method. Then to eliminate the effects of the uncertainties and external d...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2015