Title :
Control of a flexible manipulator with noncollocated feedback: time-domain passivity approach
Author :
Ryu, Jee-Hwan ; Kwon, Dong-Soo ; Hannaford, Blake
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Korea Adv. Inst. of Sci. & Technol., Taejeon, South Korea
Abstract :
A new method to control a flexible manipulator with noncollocated feedback is proposed. We introduce a method to implement the time-domain passivity-control approach to a flexible manipulator with noncollocated feedback, which could not be treated with the previous time-domain passivity-control framework due to a possible active transfer function from the input to the noncollocated output. The proposed method is simulated with a single-link flexible manipulator, and a good control performance is obtained.
Keywords :
feedback; flexible manipulators; observers; time-domain analysis; transfer functions; active transfer function; flexible manipulator control; noncollocated feedback; passivity controller; passivity observers; time-domain passivity; Actuators; Aerospace industry; Delay; Manipulators; Orbital robotics; Output feedback; Service robots; Time domain analysis; Torque; Transfer functions; Flexible manipulator; PC; PO; noncollocated feedback; passivity controller; passivity observer; time-domain passivity;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2004.829454
