A force observation method for tracking control of flexible-link manipulators

Atashzar, S. Farokh; Shahbazi, Mahya; Talebi, Heidar Ali; Towhidkhah, Farzad

doi:10.1017/s0263574712000689

Cited by 3 publications

(2 citation statements)

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“…This representation is close to the standard conventional definition of arm flexibility in flexible-link manipulators [14], [15]. X = J(q, 0)q +∆ total (23) In the next step, the STD model is employed to design an inverse model-based scheme for the inner loop controller.…”

Section: A the Inner Control Loopmentioning

confidence: 96%

Real-time trajectory tracking for externally loaded concentric-tube robots

Asadian

Atashzar

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Concentric-tube robots can offer a suitable compromise between force and curvature control. In a previous study by the authors, a real-time trajectory tracking scheme for an unloaded concentric-tube robot was developed. One of the practical barriers to the use of a concentric-tube robot in medical applications is compensation for the impact of environmental forces which can cause drastic deterioration in tracking performance. In this paper, by modifying the robot's forward kinematics and Jacobian, a new method is developed to facilitate tip tracking in real-time while accounting for an external load at the robot's tip. By considering the tip deflection resulting from the external load, a novel dual-layer control architecture is proposed to compensate for this deflection during trajectory tracking. In order to measure the force exerted on the tip position of the robot, a new technique is proposed that can move the sensing system from the distal tip to the proximal base. Experimental results are given to illustrate the effectiveness of the proposed method.

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Section: A the Inner Control Loopmentioning

confidence: 96%

Real-time trajectory tracking for externally loaded concentric-tube robots

Asadian

Atashzar

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…Nonlinear feedback control of robotic manipulators is a well-researched area. [1][2][3] The latest robotic controllers are microprocessors-based, leading to the sampled-data-based control schemes. This offers both online and offline programming controls.…”

Section: Introductionmentioning

confidence: 99%

Sampled data output regulation of n-link robotic manipulator using a realizable reconstruction filter

Liaquat

Malik

2014

Robotica

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SUMMARYThis paper proposes a solution to the sampled-data regulation problem for feedback linearizable n-link robotic manipulators. The prime focus is on the development and stability analysis of the proposed control scheme in the presence of model uncertainties and external disturbances. A major constraint is the availability of sampled measurements of output signal. This leads to designing an impulsive observer for feedback linearization. The discrete-time control input is mapped into its continuous-time counterpart using a realizable reconstruction filter (RRF). The underlying control scheme relies on the sampled-data regulator theory based on the discrete-time equivalence of the plant and RRF modeled as impulsive system. This method leads to controller/observer design in discrete time. The working of the entire scheme is dependent on the stability of impulsive observer; hence a Lyapunov-based stability analysis is also included to ensure the stability of a closed-loop system. The working of the proposed scheme along with a comparison with conventional solution is presented, when applied to the control of a 3-degree-of-freedom PUMA 560 robot.

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