Analytical Modelling and Nonlinear Strain Feedback Control of a Flexible Robot ARM

被引：4
|
作者：
Bolandi, H. [1 ]
Esmaeilzadeh, S. M. [1 ]
机构：
[1] Iran Univ Sci & Technol, Dept Elect Engn, Daneshgah Ave, Tehran, Iran
来源：
AUTOMATIC CONTROL AND COMPUTER SCIENCES | 2008年 / 42卷 / 05期
关键词：
flexible manipulator; nonlinear control; extended Hamilton's principle; assumed mode method;
D O I：
10.3103/S0146411608050027
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a full nonlinear analytical model of a single link flexible manipulator consisting of a rotary joint and a flexible link, handling uniform payload at the tip considering its inertia is developed based on extended Hamilton-assumed mode method. Due to model nonlinearities, a nonlinear control strategy directly based on the strain gauges measurements attached in some locations of the link is investigated. Effectiveness of the controller in vibration suppressing and fast motion duration tracking capability is shown through simulation.
引用
收藏
页码：236 / 248
页数：13
相关论文
共 50 条
  • [1] On the Strain Feedback Control of a Flexible Robot Arm
    Morgul, Omer
    2011 AMERICAN CONTROL CONFERENCE, 2011,
  • [2] Adaptive Nonlinear Sensor Output Feedback Control of a Flexible Robot Arm
    Bolandi, H.
    Esmaeilzadeh, S. M.
    ICCEE 2008: PROCEEDINGS OF THE 2008 INTERNATIONAL CONFERENCE ON COMPUTER AND ELECTRICAL ENGINEERING, 2008, : 639 - 647
  • [3] Feedback control and simulation for vibrations of a flexible robot arm
    School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200030, China
    J Vib Shock, 2006, 1 (1-4):
  • [4] Nonlinear strain feedback control of coupled bending and torsional vibrations of flexible robot arms
    Zhang, X.W.
    Han, J.Q.
    Xitong Fangzhen Xuebao / Journal of System Simulation, 2001, 13 (03): : 364 - 367
  • [5] EFFECT OF MOTOR DYNAMICS ON NONLINEAR FEEDBACK ROBOT ARM CONTROL
    TARN, TJ
    BEJCZY, AK
    YUN, XP
    LI, ZF
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1991, 7 (01): : 114 - 122
  • [6] FEEDBACK-CONTROL OF ROBOT ARM WITH DISCRETE NONLINEAR MODEL
    TARN, TJ
    BEJCZY, AK
    GANGULY, S
    JOURNAL OF ROBOTIC SYSTEMS, 1992, 9 (04): : 529 - 559
  • [7] Adaptive nonlinear boundary control of a flexible link robot arm
    de Queiroz, MS
    Dawson, DM
    Agarwal, M
    Zhang, F
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1999, 15 (04): : 779 - 787
  • [8] Adaptive nonlinear boundary control of a flexible link robot arm
    de Queiroz, MS
    Dawson, DM
    Agarwal, M
    Zhang, F
    PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5, 1997, : 1327 - 1332
  • [9] Adaptive nonlinear boundary control of a flexible link robot arm
    Department of Mechanical Engineering, Polytechnic University, Brooklyn, NY 11201, United States
    不详
    IEEE Trans Rob Autom, 4 (779-787):
  • [10] Vibration control for a flexible-link robot arm with deflection feedback
    Tso, SK
    Yang, TW
    Xu, WL
    Sun, ZQ
    INTERNATIONAL JOURNAL OF NON-LINEAR MECHANICS, 2003, 38 (01) : 51 - 62
12345