End-point vibration sensing of planar flexible manipulators through visual servoing

Mechatronics ◽  
2006 ◽  
Vol 16 (3-4) ◽  
pp. 221-232 ◽  
Author(s):  
Luca Bascetta ◽  
Paolo Rocco
Keyword(s):  
Visual Servoing ◽  
Flexible Manipulators ◽  
End Point ◽  
Vibration Sensing

A Mutivariable Methodology for Fast Visual Servoing of Flexible Manipulators Moving in a Restricted Workspace

2012 ◽  
Vol 26 (15) ◽  
pp. 1771-1797 ◽  
Author(s):  
Loïc Cuvillon ◽  
Edouard Laroche ◽  
Jacques Gangloff ◽  
Michel de Mathelin
Keyword(s):  
Visual Servoing ◽  
Flexible Manipulators

End-point position measurements of long-reach flexible manipulators

1994 ◽  
Vol 27 (14) ◽  
pp. 669-674 ◽  
Author(s):  
Klaus Obergfell ◽  
Wayne J. Book
Keyword(s):  
Flexible Manipulators ◽  
Point Position ◽  
End Point

Composite pseudolink end-point control of flexible manipulators

1990 ◽  
Vol 20 (5) ◽  
pp. 969-977 ◽  
Author(s):  
J.O. King ◽  
V.G. Gourishankar ◽  
R.E. Rink
Keyword(s):  
Flexible Manipulators ◽  
End Point ◽  
Point Control

End-Point Control of Flexible Manipulators.

1986 ◽  
Author(s):  
Robert H. Cannon ◽  
Thomas O. Binford
Keyword(s):  
Flexible Manipulators ◽  
End Point ◽  
Point Control

End Point Position Control of Multi-Link Flexible Manipulators Using SDRE Method

2004 ◽  
Author(s):  
Jamil M. Renno ◽  
Woosoon Yim ◽  
Sahjendra N. Singh
Keyword(s):  
Equilibrium State ◽  
Closed Loop ◽  
Position Control ◽  
Loop System ◽  
Suboptimal Control ◽  
Flexible Manipulator ◽  
Flexible Manipulators ◽  
Closed Loop System ◽  
End Point ◽  
Elastic Modes

This paper treats end point regulation of multi-link light-weight flexible manipulators using the State Dependent Riccati Equation: SDRE method. It is well known that end point trajectory control using widely used feedback linearization techniques is not possible when the equilibrium state of the zero dynamics of the system is unstable or weakly stable. Furthermore, control saturation is a major problem in controlling nonlinear systems. In this paper, an optimal control problem is formulated for the derivation of control law with and without control constraints on the joint torques for a multi-link flexible manipulator and suboptimal control laws are designed using the SDRE method. For the purpose of control, pseudo joint angles and elastic modes of each link are regulated to their equilibrium values which correspond to the target end point. Weighting matrices in the quadratic performance index provide flexibility in shaping the pseudo angles and elastic modes trajectories. In the closed-loop system, the equilibrium state is asymptotically stable, and vibration is suppressed. Simulation results are presented for a two-link flexible manipulator, which show that in the closed-loop system, end point trajectory tracking is accomplished even with constraints on the control torque. Results also show that the transient characteristics of the pseudo angles and elastic modes can be easily shaped by the choice of the performance criterion.

End Point

2020 ◽  
Author(s):  
Keyword(s):  
End Point
Sign in / Sign up

Export Citation Format

Share Document