Adaptive control of a single-link flexible manipulator

“…Under the feedback category, various control schemes like PD control (Yigit 1994), adaptive control (Feliu et al 1990;Shaheed & Tokhi 2013), robust control (Rattan & Feliu 1991), sliding mode control (Zhang et al 2004), feedback linearization control (Cambera et al 2014) have been implemented in the past on flexible manipulators. As compared to open-loop schemes, pure feedback schemes possess better robustness property, but require high control gains to suppress multiple modes.…”

Section: Introductionmentioning

confidence: 99%

Vibration suppression during input tracking of a flexible manipulator using a hybrid controller

Singla

Tewari

DasGupta

2015

Sadhana

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The aim of this paper is to investigate the performance of the hybrid controller for end-point vibration suppression of a flexible manipulator, while it is tracking a desired input profile. Due to large structural vibrations, precise control of flexible manipulators is a challenging task. A hybrid controller is used to track large movements of flexible robotic manipulators, which is a combination of inverse dynamics feedforward control, command shaping and linear state feedback control. The case study of a single-link flexible manipulator is considered, where the manipulator is controlled under open-loop as well as closed-loop control scheme. In the open-loop control scheme, the aim is to test the effectiveness of the command shaper in reducing the vibration levels. Moreover, the effect of payload variations on the performance of command shapers and the importance of more robust shapers is demonstrated in this work. Under the closed-loop control scheme, the control objective is to track the large-hub angle trajectory, while maintaining low vibration levels. In comparison to collocated PD control, being reported in the literature, large reductions in tip acceleration levels as well as input torque magnitudes are observed with the proposed hybrid controller.

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“…In contrast to traditional manipulators, flexible manipulators have several advantages such as lower cost, higher operational speed, lower energy consumption, better maneuverability, better transportability, and safer operation due to small inertia of mass. On the down side, flexible manipulators generally have a problem with arm vibrations due to the low level of stiffness; hence, the suppression of vibrations in flexible manipulators has been a key issue in their design and development [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

Vibration suppression of a flexible robot manipulator with a lightweight piezo-composite actuator

Phan

Goo

Park

2009

Int. J. Control Autom. Syst.

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The increasing demand for high-speed performance and low energy consumption has necessitated the design of lightweight mechanical systems. The active vibration suppression of a flexible manipulator is important in many engineering applications, such as robot manipulators and high-speed flexible mechanisms, because the flexibility of lightweight manipulators induces a vibration problem. Frequently, the optimal parameters determined for a certain control algorithm might not cover a wide range of operating conditions. Hence, we have proposed and developed a lookup table control method for a flexible manipulator that can tune itself to optimal parameters on the basis of the initial maximum responses of the controlled system and a genetic algorithm. The genetic algorithm is used to search for optimal parameters with regard to positive position feedback and thereby minimizes the objective functions determined from the initial maximum responses. Our lookup table, which has the optimal parameters of the positive position feedback as a function of the initial maximum responses, can be used in a real-time control algorithm.

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Adaptive control of a single-link flexible manipulator

Cited by 87 publications

References 10 publications

Two direct Tustin discretization methods for fractional-order differentiator/integrator

Two direct Tustin discretization methods for fractional-order differentiator/integrator

Vibration suppression during input tracking of a flexible manipulator using a hybrid controller

Vibration suppression of a flexible robot manipulator with a lightweight piezo-composite actuator

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