Motion Control of a Spatial Elastic Manipulator in the Presence of Measurement Noises

Kilicaslan, Sinan; İder, S. Kemal; Özgören, M. Kemal

doi:10.1007/s13369-021-05800-7

Cited by 1 publication

(4 citation statements)

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“…As a result of this, if x(t) is in the vicinity of x*(t), then DS will also be made stable. Thus, coefficients of DS and LTV DS will be near to each other through the trajectory [23,24]. This means that:…”

Section: Here Y*(t) Results From S*(t) and λ*(T) When The Controller ...mentioning

confidence: 97%

“…Shafei, Bahrami and Talebi [22] MC. Kilicaslan, Ider, and Ozgoren [23] MC. Kilicaslan, Ozgoren, and Ider [24] Planar TL robot having flexible forearm.…”

Section: Previous Work Limitations And/or Disadvantagesmentioning

confidence: 99%

“…However, because of Assumption 1, the theorem can also be used for the stability of the DS expressed by Equation (70). This means that, for small disturbances and initial deviations, LTV DS stability indicates DS stability [23,24]. Therefore, computations of E, F, and S can be obtained by use of instantly measured variables of y and .…”

Section: Stabilitymentioning

confidence: 99%

“…Shafei, Bahrami and Talebi [22] designed a sliding mode control and a Lyapunov function considering planar TL FM and spatial TL FM. Kilicaslan, Ider, and Ozgoren [23] have proposed a task space MC law for a spatial three-link FM.…”

Section: Introductionmentioning

confidence: 99%

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Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises

2022

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This work addresses the end-effector trajectory-tracking force and motion control of a three-dimensional three-link robot considering measurement noises. The last two links of the manipulator are considered as structurally flexible. An absolute coordinate approach is used while obtaining the dynamic equations to avoid complex dynamic equations. In this approach, each link is modeled as if there is no connection between the links. Then, joint connections are expressed as constraint equations. After that, these constraint equations are used in dynamic equations to decrease the number of equations. Then, the resulting dynamic equations are transformed into a form which is suitable for controller design. Furthermore, the dynamic equations are divided as pseudostatic equilibrium and deviation equations. The control torques resulting from the pseudostatic equilibrium and the elastic deflections are obtained easily as the solution of algebraic equations. On the other hand, the control torques corresponding to the deviations are obtained without any linearization. Encoders, strain gauges, position sensors and force and moment sensors are required for measurements. Low pass filters are considered for the sensors. For the crossover frequencies of the sensors, low and high values are chosen to observe the filtering effect on the robot output.

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Section: Here Y*(t) Results From S*(t) and λ*(T) When The Controller ...mentioning

confidence: 97%

“…Shafei, Bahrami and Talebi [22] MC. Kilicaslan, Ider, and Ozgoren [23] MC. Kilicaslan, Ozgoren, and Ider [24] Planar TL robot having flexible forearm.…”

Section: Previous Work Limitations And/or Disadvantagesmentioning

confidence: 99%

Section: Stabilitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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