External sensory feedback control for end-effector of flexible multi-link manipulators

Author

Lee, Ho Gil ; Kawamura, Sadao ; Miyazaki, Fumio ; Arimoto, Suguru

Author_Institution

Adv. Software Technol. & Mechatron. Res. Inst. of Kyoto, Japan

fYear

1990

fDate

13-18 May 1990

Firstpage

1796

Abstract

A method is proposed to control the tip of a flexible multilink manipulator. The external sensory feedback controller can be easily constructed in task-oriented coordinates (for example Cartesian coordinates) without complex calculation for inverse kinematics or inverse dynamics. To realize the control method, a reduced-order approximate Jacobian which is formed by the motion of both rigid and flexible modes of the manipulator is introduced. The effectiveness of the proposed control method based on the approximate Jacobian is proved by using L₂ stability theory. The practical usefulness of the method is demonstrated by some experimental results for a flexible two-link manipulator

Keywords

dynamics; feedback; kinematics; robots; stability; end-effector; external sensory feedback controller; flexible multilink manipulator; inverse dynamics; inverse kinematics; reduced-order approximate Jacobian; robots; stability; task-oriented coordinates; Adaptive control; Feedback control; Gas insulated transmission lines; Jacobian matrices; Manipulator dynamics; Mechatronics; Motion analysis; Robot kinematics; Robot sensing systems; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Conference_Location

Cincinnati, OH

Print_ISBN

0-8186-9061-5

Type

conf

DOI

10.1109/ROBOT.1990.126269

Filename

126269