Trajectory Control of a 3-link Planar Manipulator using Virtual Link Based Controller
نویسندگان
چکیده
A hyper-redundant manipulator has the advantage that it can be used in constraint space; however the control of hyper-redundant manipulator is difficult. This paper presents a concept of virtual link based two degrees of freedom (DOF) controller. With the proposed controller, manipulator of any number of links can be reduced to either a 2-link virtual manipulator or one real and one virtual link manipulator. To illustrate the methodology, a 3-link planar hyper-redundant manipulator has been considered. Simulations have been carried out to validate the efficacy of the controller. The developed control scheme can be used in trajectory control of manipulators used for surgical applications i.e., invivo robot. Keywords— trajectory control; virtual link approach; bond graph.
منابع مشابه
QFT Control of a Two-Link Rigid-Flexible Manipulator
This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...
متن کاملMaximum Allowable Dynamic Load of Flexible 2-Link Mobile Manipulators Using Finite Element Approach
In this paper a general formulation for finding the maximum allowable dynamic load (MADL) of flexible link mobile manipulators is presented. The main constraints used for the algorithm presented are the actuator torque capacity and the limited error bound for the end-effector during motion on the given trajectory. The precision constraint is taken into account with two boundary lines in plane w...
متن کاملPlanning and Control of Two-Link Rigid Flexible Manipulators in Dynamic Object Manipulation Missions
This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...
متن کاملTrajectory Control of Two Link Robotic Manipulator Using Pid
This paper presents the design and implementation of PID controller for the general form of two-link planar robotic manipulator. Also for comparative analysis, proportional-derivative (PD), is implemented on the same system under same conditions. The comparative analysis of the results demonstrates that the PID controller is best among all the conventional controllers and the simulation results...
متن کاملMaximum Allowable Load On Wheeled Mobile Manipulators (RESEARCH NOTE)
This paper develops a computational technique for finding the maximum allowable load of mobile manipulators for a given trajectory. The maximum allowable loads which can be achieved by a mobile manipulator during a given trajectory are limited by the number of factors; probably the dynamic properties of mobile base and mounted manipulator, their actuator limitations and additional constraints a...
متن کامل