Trajectory control of a two-link robot manipulator in the presence of gravity and friction

Author

Markus, Elisha D. ; Agee, J.T. ; Jimoh, A.A.

Author_Institution

Dept. of Electr. Eng., Tshwane Univ. of Technol., Pretoria, South Africa

fYear

2013

fDate

9-12 Sept. 2013

Firstpage

1

Lastpage

5

Abstract

This paper discusses the application of differential flatness to tracking control of a robot manipulator in the presence of gravity and friction. Including these terms in the coupled nonlinear dynamics of the robot increases the complexity of the control. Tracking a robot trajectory under these conditions would require accurate mathematical modeling of the robot. This knowledge will help in generating nominal trajectories and executing accurate tracking. Differential flatness based control enables both possibilities. Flat inputs are designed to drive the robot along its trajectory while eliminating the effects of friction and gravity. The control design is applied to the trajectory tracking control of a two link robot manipulator.

Keywords

control system synthesis; friction; manipulator dynamics; nonlinear dynamical systems; tracking; trajectory control; control complexity; control design; coupled nonlinear dynamics; differential flatness; fifferential flatness based control; friction; gravity; mathematical modeling; robot trajectory tracking; trajectory tracking control; two-link robot manipulator; Friction; Gravity; Manipulator dynamics; Mathematical model; Robot kinematics; Trajectory; Differential flatness; Friction control; Trajectory tracking; Two-link manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

AFRICON, 2013

Conference_Location

Pointe-Aux-Piments

ISSN

2153-0025

Print_ISBN

978-1-4673-5940-5

Type

conf

DOI

10.1109/AFRCON.2013.6757809

Filename

6757809