Hostname: page-component-77c89778f8-rkxrd Total loading time: 0 Render date: 2024-07-20T18:16:23.911Z Has data issue: false hasContentIssue false
  • English
  • Français

Experimental dual-mode control of a flexible robotic arm

Published online by Cambridge University Press:  09 March 2009

Woosoon Yim ,
Jichun Zuang  and
Sahjendra Singh
Woosoon Yim
Affiliation:
Department of Mechanical Engineering, University of Nevada, Las Vegas, 4505 Maryland Parkway, Las Vegas, Nevada 89154 (USA)
Jichun Zuang
Affiliation:
Department of Mechanical Engineering, University of Nevada, Las Vegas, 4505 Maryland Parkway, Las Vegas, Nevada 89154 (USA)
Sahjendra Singh
Affiliation:
Department of Mechanical Engineering, University of Nevada, Las Vegas, 4505 Maryland Parkway, Las Vegas, Nevada 89154 (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper focuses on the implementation of a dual-mode controller for the maneuver of a single link flexible robotic arm. The joint angle trajectory tracking is accomplished by a proportional and derivative PD and a feedforward controller. Based on the pole placement technique, a linear stabilizer is designed for elastic mode stabilization. The stabilizer is switched on when the trajectory reaches the vicinity of the terminal state, and the effect of switching time on arm vibration is investigated. An optical deflection sensor is used for on-line measurements of elastic deflections, and also used for the prediction of the static deflection of the arm in the target position. The robustness of the linear stabilizer at varying pay loads is presented.

Keywords

Flexible armDual-mode controllerTrajectory trackingStatic deflection
Type
Article
Information
Robotica , Volume 10 , Issue 2 , March 1992 , pp. 135 - 145
Copyright
Copyright © Cambridge University Press 1992

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Low, K.H., “A Systematic Formulation of Dynamic Equation for Robot Manipulator with Elastic Links” J. Robotic System 4 No. 3, 435–456 (1987).Google Scholar
2.Book, W.J., “Recursive Lagrangian Dynamics of Flexible Manipulator” Int. J. Robotic Research 3, 87–101 (1984).CrossRefGoogle Scholar
3.Trabia, M. and Yim, W., “Dynamics simulation of a three degree of freedom hydraulically activated robotic arm with flexible links.” SME Transactions on Robotics Research 1, 8–17 to 37 (1990).Google Scholar
4.Yang, T.C., Sung, K.H., Yang, J. and Kudva, P., “An Experimental Adaptive Control Scheme for a Flexible Manipulator” Int. J. Robotics and Automation 3, No. 2, 79–85 1988).Google Scholar
5.Yang, Y.P. and Gibson, J.S., “Adaptive control of a manipulator with a flexible link” Technical Report ICASE Report No. 88–17, ICASE, NASA Langley Research Center, 1988 (NASA Contractor Report 181637).Google Scholar
6.Rovner, D.M. and Cannon, R.H. Jr, “Experiments Toward On-Line Identification and Control of a Very Flexible One-Link Manipulator” Int. J. Robotics Research 6, No. 4, 3–19 (Winter 1987).CrossRefGoogle Scholar
7.Singh, S.N. and Schy, A.A., “Control of Elastic Robotic Systems by Nonlinear Inversion and Modal Damping”, ASME Transactions, J Dynamic Systems, Measurement, and Control 180–189 (09, 1986).Google Scholar
8.Das, A. and Singh, S.N., “Nonlinear Adaptive Control and Linear Stabilization of an Elastic Arm,” Int. J. Robotics and Automation 5, No. 3, 115–123 (1990).Google Scholar
9.Yim, W., “End-point deflection and slope measurement of a flexible robot arm” Proc. of the SPIE's 33rd Annual International Technical Symposium on Optical and Optoelectronic Applied Science & Engineering, 08, 1989, San Diego, California 1167, 194–203 (1989).Google Scholar
10.Bollinger, J.G. and Duffie, N.A., Computer Control of Machines and Processes (Addison-Wesley Publishing Co., USA, 1988).Google Scholar
11.Meirovitch, L., Analytical Methods in Vibration (The MacMillan Co., New York, 1967).Google Scholar
12.Craig, J.J., Introduction to Robotics (Addison-Wesley Publishing Co., 2nd ed., USA, 1989).Google Scholar