Robust tip trajectory tracking of a very lightweight single-link flexible arm in presence of large payload changes

Feliú, V.; Castillo, Fernando J.; Ramos, Francisco; Somolinos, J.A.

doi:10.1016/j.mechatronics.2012.01.012

Cited by 31 publications

(14 citation statements)

References 29 publications

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“…After simplifying, the following equation can be obtained: (11) Considering the system of Eqs. (9) and (11), the angular position of the end point of the beam (θ t ) and the angular position of the intermediate point of the beam which has contact with the environment (θ c ) can be obtained by solving this system of equations as follows:…”

Section: Link Dynamics: Constrained Motion With Collision At the Intementioning

confidence: 99%

“…10 In the recent decades, various control approaches into flexible manipulator interacting with the environment have been proposed. [11][12][13][14][15][16][17][18][19] Some of these control strategies are in relation to the force control of the flexible robot. Moreover, in the last two decades, impedance control of the rigid manipulators interacting with the environment has been widely reviewed that can be found in the scientific literature.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point

et al. 2019

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Summary This paper proposes an adaptive robust impedance control for a single-link flexible arm when it encounters an environment at an unknown intermediate point. First, the intermediate collision point is estimated using a collision detection algorithm. The controller, then, switches from free to constrained motion mode. In the unconstrained motion mode, the exerted force to environment is nearly zero. Thus, the reference trajectory is a prescribed desired trajectory in position control. In the constrained motion mode, the reference trajectory is determined by the desired target dynamic impedance. The simulation results demonstrate the efficiency of proposed control scheme.

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Section: Link Dynamics: Constrained Motion With Collision At the Intementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point

et al. 2019

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“…In [14], input tracking of flexible manipulators using a PD, PID, ZVDD and a hybrid fuzzy control approach was investigated. LQR, LQR-PID, and hybrid LQR-Input shaping methods were proposed in [15] for hub angle control and residual vibration suppression of the flexible manipulator systems. A non-collocated PID and LQR controllers for vibration and input tracking control was Implemented in [16].…”

Section: Introductionmentioning

confidence: 99%

Optimized output-based input shaping for control of single-link flexible manipulator using linear matrix inequality

Tahir¹,

Muhammad²,

Muhammad³

et al. 2020

IJEECS

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<span>Precise hub angle positioning due to tip deflections, flexible motions and under various payloads is enormous tasks in the control of single-link flexible manipulators. In this paper, output-based command shaping (OBCS) was designed using the system output for tip deflections and residuals vibrations suppression, and this was incorporated with a linear matrix inequality (LMI) closed-loop control scheme for precise hub angle positioning. The robustness of the hybrid control scheme was tested by changing the payloads from 0g to 30g, and 50g. Simulation results showed that endpoint residuals vibrations and tip deflections due to flexible motions were suppressed and hence precise hub angle positioning under various payloads was achieved. Integral absolute error (IAE), Integral square error (ISE) and Time response analysis (TRA) were used as the performance indexes. Hence, the hybrid control scheme is simple and robust.</span>

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“…Two different approaches have been applied in literature for the control of the flexible robot arms, these are; i) linear control approach and ii) nonlinear control approach. Linear controllers such as H-infinity explicitly in [3], linear quadratic regulator (LQR) explicitly in [4], conventional PID control explicitly in [5] and integral resonant control (IRC) explicitly in [2,6], have been applied in the control of FMS. A Flexible manipulator is quite difficult to be accurately controlled by linear control approach due to their nonlinear dynamic structure.…”

Section: Introductionmentioning

confidence: 99%

Vibration and tip deflection control of a Single-link flexible manipulator

Abdullahi¹,

Mohamed²,

Muhammad³

et al. 2013

IJICS

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In this paper, a hybrid control scheme for vibration and tip deflection control of a single link flexible manipulator system is presented. The purpose of this control is for input tracking, vibration control of hub angle and tip deflection control. The control scheme consists of a resonant controller and a fuzzy logic controller (FLC).The resonant controller is used as the inner loop feedback controller for vibration control using the resonant frequencies at different resonant modes of the system which were determined from experiment. The fuzzy logic controller is designed as the outer loop feedback controller for the tracking control and to achieve zero steady state error. The performance of the proposed control scheme is investigated via simulations and the results show the effectiveness of the control scheme, in addition thecontroller is tested to show it robustness using different values of payload.

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Robust tip trajectory tracking of a very lightweight single-link flexible arm in presence of large payload changes

Cited by 31 publications

References 29 publications

Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point

Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point

Optimized output-based input shaping for control of single-link flexible manipulator using linear matrix inequality

Vibration and tip deflection control of a Single-link flexible manipulator

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