Improving regulation of a single-link flexible manipulator with strain feedback

Author

Ge, Shuzhi S. ; Lee, T.H. ; Zhu, G.

Author_Institution

Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore

Volume

14

Issue

1

fYear

1998

fDate

2/1/1998 12:00:00 AM

Firstpage

179

Lastpage

185

Abstract

This paper considers improving the tip regulation performance of a joint-PD controlled single-link flexible manipulator by introducing nonlinear strain feedback. The controller is developed by applying Lyapunov´s direct method. The stability of the closed-loop system is theoretically proven based on the partial differential equations (PDE) which govern the motion of the flexible robot, instead of using the traditional truncated models. The controller is very simple in its form, and only the measurements of joint angle, joint velocity, and strain of the bending beam are needed for implementation. The controller is very robust as well because it is independent of system parameters

Keywords

Lyapunov methods; closed loop systems; control system synthesis; feedback; flexible structures; manipulators; nonlinear control systems; partial differential equations; stability; strain measurement; Lyapunov direct method; PDE; bending beam strain; closed-loop system; joint angle; joint velocity; joint-PD controlled single-link flexible manipulator; nonlinear strain feedback; partial differential equations; strain feedback; system parameters; tip regulation performance; truncated models; Capacitive sensors; Feedback; Manipulators; Partial differential equations; Robots; Stability; Strain control; Strain measurement; Velocity control; Velocity measurement;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.660869

Filename

660869