Control experiments on a two-link robot with a flexible forearm

Author

De Luca, A. ; Lanari, L. ; Lucibello, P. ; Panzieri, S. ; Ulivi, G.

Author_Institution

Dipartimento di Inf. e Sistemistica, Roma Univ., Italy

fYear

1990

fDate

5-7 Dec 1990

Firstpage

520

Abstract

A lightweight robot has been built with the aim of testing advanced control algorithms and demonstrating the engineering feasibility of flexible arm control. The robot is a planar two-link manipulator, with revolute joints and a very flexible forearm. A description of this laboratory facility is given, including mechanical structure, actuators and sensors, and interface electronics. A nonlinear dynamic model of the robot is given, in which link deflection is expressed in terms of orthonormal mode shapes of the associated eigenvalue problem. Simple control algorithms are presented, which are composed of a model-based feedforward term plus a linear feedback. These controllers have been implemented for joint trajectory tracking, and comparative experimental results are reported and discussed

Keywords

eigenvalues and eigenfunctions; nonlinear control systems; position control; robots; actuators; eigenvalue; flexible forearm; interface electronics; joint trajectory tracking; linear feedback; manipulator; mechanical structure; model-based feedforward; nonlinear dynamic model; orthonormal mode shapes; sensors; two-link robot; Actuators; Eigenvalues and eigenfunctions; Laboratories; Lighting control; Manipulator dynamics; Mechanical sensors; Robot sensing systems; Sensor phenomena and characterization; Shape; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1990., Proceedings of the 29th IEEE Conference on

Conference_Location

Honolulu, HI

Type

conf

DOI

10.1109/CDC.1990.203651

Filename

203651