Workspace tracking control of two-flexible-link manipulator using distributed control strategy

DOI10.1155/2013/617465MaRDI QIDQ2249306zbMATH OpenOpenAlexWikidataFDO

Authors Fareh Raouf, Saad Mohamad, Saad Maarouf

Publication date 1 July 2014

Published in Journal of Control Science and Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 3.0 Unported

Full work available at URL https://doi.org/10.1155/2013/617465

zbMATH Keywords

asymptotic stabilitydistributed nonlinear control strategyLyapunov theorytwo-flexible-link manipulators

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Asymptotic stability in control theory (93D20)

Review text

Summary: A distributed nonlinear control strategy for two-flexible-link manipulators is presented to track a desired trajectory in the robot's workspace. The inverse dynamics problem is solved by transforming the desired trajectory from the workspace to the joint space using an intermediate space, called virtual space, and then using the quasi-static approach. To solve the non-minimum phase problem, an output redefinition technique is used. This output consists of the motor's angle augmented with a weighted value of the link's extremity. The distributed control strategy consists in controlling the last link by assuming that the first link is stable and follows its desired trajectories. The control law is developed to stabilize the error dynamics and to guarantee bounded internal dynamics such that the new output is as close as possible to the tip. The weighted parameter defining the noncollocated output is then selected. The same procedure is applied to control and stabilize the first link. The asymptotic stability is proved using Lyapunov theory. This algorithm is applied to a two-flexible-link manipulator in the horizontal plane, and simulations show a good tracking of the desired trajectory in the workspace.

Recommendations

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Cites work

• Convergence Analysis of an Inverse Flexible Manipulator Model Algorithm
• Inversion-based nonlinear control of robot arms with flexible links
• Neuro-sliding-mode control of flexible-link manipulators based on singularly perturbed model
• Nonlinear tip-position tracking control of a flexible-link manipulator: Theory and experiments
• Positive definite matrices
• Robust trajectory control in the workspace of a class of flexible robots
• Springer handbook of robotics. With DVD
• Theory of robot control
• Trajectory control of a non-linear one-link flexible arm

Cited in

(2)

• An inverse dynamics control strategy for tip position tracking of flexible multi-link manipulators
• Application of stable inversion to flexible manipulators modeled by the absolute nodal coordinate formulation

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