Control of a Lightweight Flexible Robotic Arm Using Sliding Modes

Abstract

This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with wellestablished stability properties while an LQR optimal design is adopted for the flexible dynamics. Experimental results show that this composite approach achieves good closed loop tracking properties both for the rigid and the flexible dynamics.

3DCLIMBER: Climbing and manipulation over 3D structures

“…This is a general problem of the robotic arms which has been discussed in the literature. For instance, the control problem of flexible link robotic manipulators has been studied in the last two decades [7,11]. Some control strategies (e.g.…”

Composite Learning Sliding Mode Control of Flexible-Link Manipulator

“…With the SP method in [12,26], the fast dynamics (5) and the slow dynamics (4) are obtained. The detail to obtain (4) and (6) can be found in [25].…”

Vibration Based Control for Flexible Link Manipulator

“…Control policy had attracted (Menq & Xia, 1993) to investigate the use of classical control for the single-link flexible arm. The optimal control of the flexible link is highlighted by (Rai & Asada, 1995) while (Etxebarria et al, 2005) have proposed a robust control scheme for flexible link robotic manipulators. The motivation for this research is to find a simple controller, which can be able to achieve final accurate tip position for the flexible arm and at the same time reduce resulting vibration.…”