Experiments on Command Shaping Control of a Manipulator with Flexible Links

Romano, Marcello; Agrawal, Brij N.; Bernelli‐Zazzera, Franco

doi:10.2514/2.4903

Cited by 61 publications

(37 citation statements)

References 12 publications

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“…Previous approaches [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18] have included various classical and state feedback control techniques (often using simplified dynamic models); modal control (often considering a rigid-body, or zero frequency mode separately from vibration modes); sliding mode control; input command shaping [6][7][8]; time-delay filters; optimal control leading to bang-bang control; systems designed to have more easily controllable dynamics [11]; wave-based control [15,16]; and control based on real-virtual system models [17,18]. Each method has special characteristics and drawbacks, discussed in the literature.…”

Section: Motivationmentioning

confidence: 99%

Wave-based control of non-linear flexible mechanical systems

O’Connor

Flor²,

McKeown

et al. 2008

Nonlinear Dyn

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The need to achieve rapid and accurate position control of a system end-point by an actuator working through a flexible system arises frequently, in cases from space structures to disk drive heads, from medical mechanisms to long-arm manipulators, from cranes to special robots. The system's actuator must then attempt to reconcile two, potentially conflicting, demands: position control and active vibration damping. Somehow each must be achieved while respecting the other's requirements. Wave-based control is a powerful solution with many advantages over previous techniques. The central idea is to consider the actuator motion as launching mechanical waves into the flexible system while simultaneously absorbing returning waves. This simple, intuitive idea leads to robust, generic, highly efficient, adaptable controllers, allowing rapid and almost vibrationless re-positioning of the remote load (tip mass). This gives a generic, high-performance solution to this important problem that does not depend on an accurate system model or near-ideal actuator behaviour. At first sight wavebased control assumes superposition and therefore linearity. This paper shows that wave-based control is also robust (or can easily be made robust) to nonlinear behaviour associated with non-linear elasticity and with large-deflection effects.

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Section: Motivationmentioning

confidence: 99%

Wave-based control of non-linear flexible mechanical systems

O’Connor

Flor²,

McKeown

et al. 2008

Nonlinear Dyn

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“…The benefits of combining command shaping with feedback controller are demonstrated by Tzes & Yurkovich (1993). Thereafter, several researchers in the past have applied input shaping to closed-loop systems with linear (Kapila et al 2000; Kenison & Singhose 2002) as well as nonlinear feedback controllers (Banerjee & Singhose 1998;Romano et al 2002;Zain et al 2006a).…”

Section: Introductionmentioning

confidence: 97%

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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“…And space manipulators always are long, and to manipulate massive payloads. As a consequence, structural flexibility in the links is a well-known problem, and various control strategies have been proposed [6][7][8][9][10][11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Modeling and observer-based augmented adaptive control of flexible-joint free-floating space manipulators

Chen

2015

Acta Astronautica

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Experiments on Command Shaping Control of a Manipulator with Flexible Links

Cited by 61 publications

References 12 publications

Wave-based control of non-linear flexible mechanical systems

Wave-based control of non-linear flexible mechanical systems

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

Modeling and observer-based augmented adaptive control of flexible-joint free-floating space manipulators

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