Vibration-free position control for a two degrees of freedom flexible-beam sensor

被引:25
作者
Castillo-Berrio, Claudia F. [1 ]
Feliu-Badle, Vicente [1 ]
机构
[1] Univ Castilla La Mancha, Sch Ind Engn, Ciudad Real 13001, Spain
关键词
Motion control; Vibration suppression; Flexible-beam; Force/torque sensor; State linearisation;
D O I
10.1016/j.mechatronics.2015.01.005
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This work presents a position control for a two degree of freedom flexible-beam made of a composite material, whose aim is to control the tip of the flexible-beam by decreasing the vibration when the beam moves. A mechatronic unit that uses a multi-axis force/torque sensor has been specially designed and we propose to control the system by using a reduced dynamic model. The control method makes use of an inner-loop to control the position of two servo-motors, by means of PID regulators, and an outer-loop that cancels the tip vibration. Moreover, the closed-loop motor dynamics has been reduced by using a series connection of filters that invert its dynamics. The motor controllers have proved to be fast and precise, and cancel the non-modelled components of the motor friction without the need for a previous estimation. The flexible-beam vibration has been controlled by implementing an input-state feedback linearisation which includes compensation terms for the nonlinear beam dynamics, a linear feedback control law and a full state estimator. The experimental validation of the complete control method showed a significant trajectory tracking of the tip, while vibrations were prevented. (C) 2015 Elsevier Ltd. All rights reserved.
引用
收藏
页码:1 / 12
页数:12
相关论文
共 18 条
[1]   Biological Senses as Inspiring Model for Biomimetic Sensors [J].
Bar-Cohen, Yoseph .
IEEE SENSORS JOURNAL, 2011, 11 (12) :3194-3201
[2]   Control of flexible manipulators: A survey [J].
Benosman, A ;
Le Vey, G .
ROBOTICA, 2004, 22 :533-545
[3]  
Berrio CFC, 2010, EMERGING TRENDS IN MOBILE ROBOTICS, P324, DOI 10.1142/9789814329927_0041
[4]   Three-dimensional contact imaging with an actuated whisker [J].
Clements, Tyler N. ;
Rahn, Christopher D. .
IEEE TRANSACTIONS ON ROBOTICS, 2006, 22 (04) :844-848
[5]   MODELING AND CONTROL OF SINGLE-LINK FLEXIBLE ARMS WITH LUMPED MASSES [J].
FELIU, V ;
RATTAN, KS ;
BROWN, HB .
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1992, 114 (01) :59-69
[6]   CONTROL OF A 2-DEGREE-OF-FREEDOM LIGHT-WEIGHT FLEXIBLE ARM WITH FRICTION IN THE JOINTS [J].
FELIU, V ;
RATTAN, KS ;
BROWN, HB .
JOURNAL OF ROBOTIC SYSTEMS, 1995, 12 (01) :1-17
[7]   Active antenna for contact sensing [J].
Kaneko, M ;
Kanayama, N ;
Tsuji, T .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1998, 14 (02) :278-291
[8]   Biomimetic vibrissal sensing for robots [J].
Pearson, Martin J. ;
Mitchinson, Ben ;
Sullivan, J. Charles ;
Pipe, Anthony G. ;
Prescott, Tony J. .
PHILOSOPHICAL TRANSACTIONS OF THE ROYAL SOCIETY B-BIOLOGICAL SCIENCES, 2011, 366 (1581) :3085-3096
[9]   Active touch sensing Introduction [J].
Prescott, Tony J. ;
Diamond, Mathew E. ;
Wing, Alan M. .
PHILOSOPHICAL TRANSACTIONS OF THE ROYAL SOCIETY B-BIOLOGICAL SCIENCES, 2011, 366 (1581) :2989-2995
[10]   Profile sensing with an actuated whisker [J].
Scholz, GR ;
Rahn, CD .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (01) :124-127