Tracking control of flexible robot arms with a nonlinear observer

DOI10.1016/S0005-1098(00)00043-1MaRDI QIDQ5926267zbMATH OpenWikidataFDO

Authors Arteaga, Marco A.

Publication date 14 August 2001

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/S0005-1098(00)00043-1

zbMATH Keywords

dampingflexible robot armslink coordinatesnonlinear observerrobust controltracking control problem

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Observability (93B07) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

Review text

This paper is concerned with the tracking control problem for flexible robot arms. Typically, a flexible robot arm will have fewer inputs than degrees of freedom. Consequently, a desired trajectory for the flexible coordinates must be computed online in real time. The author proves that his control scheme leads to bounded trajectories. To achieve a desirable damping of the system, the equations used for the desired trajectory of the link coordinates are modified. A nonlinear observer is introduced to avoid assuming that measurements of link deflection rates are possible. The author notes that a drawback to his approach is that the effective region of attraction for the (Euler-Lagrange) equations of motion may become very small. The proposed controller-observer scheme is tested experimentally with a two-link robot having a very flexible arm. The author's damping approach appears to improve the overall system performance although it has only a moderate effect on the link coordinates themselves.

Recommendations

• Non-linear control and observation algorithms for a single-link flexible robot arm
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• scientific article; zbMATH DE number 794283

Cites work

• scientific article; zbMATH DE number 4017400 (Why is no real title available?)
• Inversion-based nonlinear control of robot arms with flexible links
• Output Feedback Two-Time Scale Control of Multilink Flexible Arms
• Robot control by using only joint position measurements

Cited in

(11)

• Design and experimental validation of piecewise-linear state observers for flexible link mechanisms
• Vibration avoidance method for flexible robotic arm manipulation
• Nonlinear Model Tracking by Robot Manipulators
• scientific article; zbMATH DE number 19127 (Why is no real title available?)
• Optimal nonlinear position tracking control of a two-link flexible-joint robot manipulator
• Flexible‐link robot arm control by a feedback linearization/singular perturbation approach
• On tracking control of flexible robot arms
• Non-linear control and observation algorithms for a single-link flexible robot arm
• scientific article; zbMATH DE number 794283 (Why is no real title available?)
• Modification of gesture-determined-dynamic function with consideration of margins for motion planning of humanoid robots
• Disturbance Compensator for a Very Flexible Parallel Lambda Robot in Trajectory Tracking

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