Trajectory tracking for a flexible one-link robot using a nonlinear noncollocated output

Author

Olfati-Saber, Reza

Author_Institution

Lab. for Inf. & Decision Syst., MIT, Cambridge, MA, USA

Volume

4

fYear

2000

fDate

2000

Firstpage

4024

Abstract

We introduce a method that provides a nonlinear noncollocated output for trajectory tracking of a flexible one-link robot. The link is modeled as a finite-order Lagrangian system obtained from truncated modal analysis. This noncollocated output is derived based on viewing a flexible link robot arm as an underactuated mechanical system and then applying an appropriate change of coordinates that transforms the system into a cascade nonlinear system with a minimum-phase zero dynamics. The output is the angle of rotation augmented with the (generalized) saturation of the weighted amplitudes of the deflection modes of the flexible link

Keywords

cascade systems; flexible manipulators; manipulator dynamics; nonlinear systems; state-space methods; tracking; Lagrangian system; cascade system; dynamics; flexible link robot; nonlinear noncollocated output; nonlinear system; normal forms; trajectory tracking; underactuated mechanical systems; Delay; Lagrangian functions; Mechanical systems; Modal analysis; Nonlinear dynamical systems; Nonlinear systems; Orbital robotics; Robot kinematics; Trajectory; Vibration measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2000. Proceedings of the 39th IEEE Conference on

Conference_Location

Sydney, NSW

ISSN

0191-2216

Print_ISBN

0-7803-6638-7

Type

conf

DOI

10.1109/CDC.2000.912344

Filename

912344