Passivity-based control of single-link flexible manipulators using a linear strain feedback

Abstract This work presents a new methodology for the design of a passivity-based control of single-link flexible manipulators. The control objective is the precise positioning of the link tip under large payload changes, which is achieved by combining a precise joint positioning with a link vibration damping. The main ingredients of the proposed methodology are as follows: a) a linear strain feedback is used to decouple the joint and link dynamics, b) the precise joint positioning is thus simplified to a motor controller, which is designed to be robust to joint frictions, and c) the residual tip vibrations are damped by a control designed using a passivity property between the strain measured at the base of the link and the joint velocity. Simulations and experimental results illustrated the performance of the proposed methodology.

[1]  Khashayar Khorasani,et al.  A neural-network-based controller for a single-link flexible manipulator using the inverse dynamics approach , 2001, IEEE Trans. Ind. Electron..

[2]  Sanjay Sharma,et al.  Flexible robot manipulators , 2008 .

[3]  H. Benjamin Brown,et al.  Control of flexible arms with friction in the joints , 1993, IEEE Trans. Robotics Autom..

[4]  Shuzhi Sam Ge,et al.  Improving regulation of a single-link flexible manipulator with strain feedback , 1998, IEEE Trans. Robotics Autom..

[5]  Vicente Feliú Batlle,et al.  Inverse dynamics based control system for a three-degree-of-freedom flexible arm , 2003, IEEE Trans. Robotics Autom..

[6]  W. Gevarter.  Basic relations for control of flexible vehicles , 1969 .

[7]  Stephen Yurkovich,et al.  Fuzzy learning control for a flexible-link robot , 1995, IEEE Trans. Fuzzy Syst..

[8]  Z. Luo.  Direct strain feedback control of flexible robot arms: new theoretical and experimental results , 1993, IEEE Trans. Autom. Control..

[9]  Stephen Yurkovich,et al.  Acceleration feedback for control of a flexible manipulator arm , 1988, J. Field Robotics.

[10]  L. Meirovitch.  Principles and techniques of vibrations , 1996 .

[11]  Zheng-Hua Luo,et al.  Nonlinear torque control of a single‐link flexible robot , 1999 .

[12]  Giovanni Ulivi,et al.  Exact modeling of the flexible slewing link , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[13]  Mathukumalli Vidyasagar,et al.  Observer-controller stabilization of a class of manipulators with a single flexible link , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[14]  Prabhakar Kudva,et al.  Load-adaptive control of a single-link flexible manipulator , 1992, IEEE Trans. Syst. Man Cybern..

[15]  Carlos Cerrada,et al.  Load adaptive control of single-link flexible arms based on a new modeling technique , 1999, IEEE Trans. Robotics Autom..

[16]  Yunjun Xu,et al.  Vision based flexible beam tip point control , 2009, 2009 American Control Conference.

[17]  Rajnikant V. Patel,et al.  Flexure control of a positioning system using piezoelectric transducers , 2004, IEEE Transactions on Control Systems Technology.

[18]  Suhada Jayasuriya,et al.  Robust Adaptive Control of Residual Vibration in Point-to-Point Motion of Flexible Bodies , 2007 .

[19]  Mouhacine Benosman,et al.  Control of flexible manipulators: A survey , 2004, Robotica.

[20]  Yon-Ping Chen,et al.  Regulation and Vibration Control of an FEM-Based Single- Link Flexible Arm Using Sliding-Mode Theory , 2001 .

[21]  Liang-Yih Liu,et al.  Noncollocated passivity-based PD control of a single-link flexible manipulator , 2003, Robotica.

[22]  D. Wang,et al.  Passive Control of a Stiff Flexible Link , 1992 .

[23]  Mohammad S. Alam,et al.  Hybrid fuzzy logic control with genetic optimisation for a single-link flexible manipulator , 2008, Eng. Appl. Artif. Intell..

[24]  R. H. Cannon,et al.  Experiments Toward On-Line Identification and Control of a Very Flexible One-Link Manipulator , 1987 .

[25]  Blake Hannaford,et al.  Control of a flexible manipulator with noncollocated feedback: time-domain passivity approach , 2004, IEEE Transactions on Robotics.

[26]  Peter Eberhard,et al.  DYNAMIC ANALYSIS OF FLEXIBLE MANIPULATORS, A LITERATURE REVIEW , 2006 .

[27]  Giovanni Ulivi,et al.  Inversion techniques for trajectory control of flexible robot arms , 1989, J. Field Robotics.