Quasi optimal control for two-link arm with flexible joints

Author

Aoustin, Yannick ; Formal´sky, Alexander

Author_Institution

Inst. de Recherche en Cybernetique de Nantes, France

fYear

2001

fDate

2001

Firstpage

51

Lastpage

57

Abstract

Method for the design of the control for an anthropomorphic manipulator with flexible joints and unknown stiffness coefficients is proposed. The control law for each torque consists of two parts: a commanded feed-forward torque and a linear angular position and velocity feedback. These commanded feed-forward torques and the corresponding reference trajectory are not far from being time-optimal. Our approach to control design is demonstrated here for two-link flexible-joint arm moving in horizontal plane. However this method can be extended to more complex systems with more number of the links and taking into account the gravity, if it is possible to design time-optimal or quasi-time-optimal control for associated rigid system

Keywords

control system synthesis; feedback; feedforward; flexible manipulators; optimal control; time optimal control; torque control; anthropomorphic manipulator; commanded feed-forward torque; commanded feedforward torque; flexible joints; linear angular feedback; position feedback; quasi-time-optimal control design; reference trajectory; time-optimal reference trajectory; time-optimal torques; torque control; two-link arm; two-link flexible-joint arm; unknown stiffness coefficients; velocity feedback; Angular velocity control; Anthropomorphism; Control design; Control systems; Design methodology; Feedforward systems; Gravity; Linear feedback control systems; Optimal control; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2001 Proceedings of the Second International Workshop on

Conference_Location

Bukowy Dworek

Print_ISBN

83-7143-515-0

Type

conf

DOI

10.1109/ROMOCO.2001.973431

Filename

973431