On the singular perturbation approach to trajectory control of a multilink manipulator with flexible links and joints
نویسندگان
چکیده
The singular perturbation approach has been shown to be successful in controlling both exible link manipulators and exible joint manipulators. In this paper, the technique is extended to control both link and joint exibility of a multilink manipulator simultaneously while a desired trajectory is being tracked. A comprehensive, closed-form, Euler–Lagrange, assumed-mode model of a multilink manipulator has been formulated in which the eVects of the link and joint exibility are incorporated. This is then converted into a two-time-scale, state-space, singular perturbation model where the slow subsystem involves the link angles and the fast subsystem consists of the joint de ection and the link de ection variables. A composite controller is designed based on the two-time-scale model of the exible link and joint manipulator. Numerical simulation results con rm that the proposed controller satisfactorily suppresses the tip de ection and joint exibility of the manipulator while very good trajectory tracking is achieved.
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