Adaptive control of flexible multilink manipulators

Date

1993

Authors

Bodur, M.
Sezer, M. E.

Editor(s)

Advisor

Supervisor

Co-Advisor

Co-Supervisor

Instructor

BUIR Usage Stats
1
views
21
downloads

Citation Stats

Series

Abstract

An adaptive self-tuning control scheme is developed for end-point position control of flexible manipulators. The proposed scheme has three characteristics. First, it is based on a dynamic model of a flexible manipulator described in cartesian coordinates, which eliminates the burden and inaccuracy of translating a desired end-point trajectory to joint coordinates using inverse kinematic relations. Second, the effect of flexibility is included in the dynamic model by approximating flexible links with a number of rigid sublinks connected at fictitious joints. The relatively high stiffness of the fictitious joints is shown to result in a decomposition of the model into two subsystems operating at different rates. This allows for stabilization of the oscillatory modes associated with the flexible links by a fast feedback control in addition to a slower control for trajectory tracking. Third, the control is constructed from measurements of the end-point position and deformations of the flexible links, with the manipulator parameters required to form the control obtained using a recursive least-squares estimation algorithm, which is fast enough for on-line applications. Satisfactory results are obtained from digital simulation of a two-link flexible manipulator.

Source Title

International Journal of Control

Publisher

Course

Other identifiers

Book Title

Keywords

Degree Discipline

Degree Level

Degree Name

Citation

Published Version (Please cite this version)

Language

English