Flexible‐link robot arm control by a feedback linearization/singular perturbation approach

DOI10.1002/rob.4620110703zbMath0812.70020DBLPjournals/jfr/VandegriftLZ94OpenAlexW2106743426WikidataQ56420706 ScholiaQ56420706MaRDI QIDQ4318982

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Publication date: 11 January 1995

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620110703

zbMATH Keywords

internal dynamicsnonlinear tracking controllerinner loopouter loopboundary layer correctionmodel-based trajectory generator

Mathematics Subject Classification ID

Control, switches and devices (``smart materials) in solid mechanics (74M05) Feedback control (93B52) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Related Items (18)

Vibration control of an Euler–Bernoulli beam under unknown spatiotemporally varying disturbance ⋮ Singular perturbation approach to trajectory tracking of flexible robot with joint elasticity ⋮ On the Control of Two-link Flexible Robot Arm with Nonuniform Cross Section ⋮ Vibration control of a flexible marine riser with joint angle constraint ⋮ Variable structure control of a distributed-parameter flexible beam ⋮ Mathematical modeling and fuzzy control of a flexible-link robot arm ⋮ Two-time scale fuzzy logic controller of flexible link robot arm ⋮ Modelling and control for a class of axially moving nonuniform system ⋮ Adaptive boundary control of a flexible marine installation system ⋮ Interaction Control Experiments for a Robot with one Flexible Link ⋮ Robust adaptive boundary control of a flexible marine riser with vessel dynamics ⋮ Control of a 2-DOF manipulator with a flexible forearm. ⋮ Nonlinear feedback control and trajectory tracking of vehicle ⋮ SLIDING-MODE ADAPTIVE CONTROL FOR FLEXIBLE-LINK MANIPULATORS USING A COMPOSITE DESIGN ⋮ Fractional-order control with second-order sliding mode algorithm and disturbance estimation for vibration suppression of marine riser ⋮ Singular perturbation analysis of a flexible beam used in underwater exploration ⋮ COMBINED PD-H∞ APPROACH TO CONTROL OF FLEXIBLE LINK MANIPULATORS USING ONLY DIRECTLY MEASURABLE VARIABLES ⋮ Boundary control of an axially moving system with high acceleration/deceleration and disturbance observer

Cites Work

• Experiments in load-adaptive control of a very flexible one-link manipulator
• A survey of linear singular systems
• Nonlinear feedback control of flexible joint manipulators: a single link case study
• Modeling and control of coupled bending and torsional vibrations of flexible beams
• Inverse Dynamics of Flexible Robot Arms: Modeling and Computation for Trajectory Control
• A Finite Element/Lagrange Approach to Modeling Lightweight Flexible Manipulators
• Tracking control of a flexible robot link
• Regulation of a one-link flexible robot arm using sliding-mode technique†
• Control of a Class of Manipulators With a Single Flexible Link: Part I—Feedback Linearization

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