Nonlinear feedback control of flexible joint manipulators: a single link case study

Author

Khorasani, K.

Author_Institution

Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada

Volume

35

Issue

10

fYear

1990

fDate

10/1/1990 12:00:00 AM

Firstpage

1145

Lastpage

1149

Abstract

A nonlinear feedback control for a flexible joint manipulator is investigated. It is shown that if the elastic (parasitic) modes are weakly observable from the output of the system, a state-space coordinate transformation and a static state feedback and control space transformation will turn the flexible system into a linear controllable and observable system. In contrast, if the parasitics are strongly observable, a dynamic state feedback is required for input-output linearization. Numerical simulations for a single link flexible joint manipulator are reported, illustrating the application of the methodology

Keywords

feedback; linearisation techniques; nonlinear control systems; robots; state-space methods; dynamic state feedback; flexible joint manipulators; input-output linearization; nonlinear feedback control; robots; single link; state-space coordinate transformation; static state feedback; Actuators; Computer aided software engineering; Control systems; Feedback control; Gears; Linear feedback control systems; Manipulator dynamics; Nonlinear control systems; Nonlinear systems; State feedback;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.58558

Filename

58558