End point trajectory control with internal stability of a flexible link by learning

2002 ◽  
Author(s):  
P. Lucibello ◽  
S. Panzieri
Keyword(s):  
Trajectory Control ◽  
Internal Stability ◽  
Flexible Link ◽  
End Point

scholarly journals Flexible Link End-Point Control Based on Exact Dynamic Inversion: Experimental Results

2001 ◽  
Author(s):  
Aurelio Piazzi ◽  
Antonio Visioli
Keyword(s):  
Open Loop ◽  
Experimental Results ◽  
Flexible Link ◽  
End Point ◽  
Point Motion ◽  
Inversion Procedure ◽  
System Inversion ◽  
Point Control ◽  
Tip Position ◽  
Point To Point

Abstract In this paper we present a new method for the point-to-point motion control of the end-point of a single flexible link manipulator. The technique is based on an exact system inversion procedure, that allows to define a suitable motion law for the hub in order to reduce the residual vibration at the end of the tip motion. Thus, the end-point control is actually performed in open-loop, therefore avoiding the use of a sensor to measure the actual tip position. Experimental results demonstrate the effectiveness of the approach and that the overall control system is inherently robust to modelling errors.

Nonlinear Inverse and Predictive End Point Trajectory Control of Flexible Macro-Micro Manipulators

1997 ◽  
Vol 119 (3) ◽  
pp. 412-420 ◽  
Author(s):  
Woosoon Yim ◽  
Sahjendra N. Singh
Keyword(s):  
Predictive Control ◽  
Tracking Error ◽  
Quadratic Function ◽  
Trajectory Control ◽  
Elastic Mode ◽  
End Effector ◽  
End Point ◽  
Micro Manipulator ◽  
Predictive Controller ◽  
Mode Stabilization

This paper presents a new approach to end-point trajectory control of flexible macro-micro manipulator based on nonlinear inversion and predictive control techniques. In this approach, precise control of the end-effector trajectory is accomplished by the inverse controller of the rigid micro manipulator, and the predictive controller steers the end point of the flexible macro manipulator with limited elastic oscillation. The predictive control law is obtained by minimizing a quadratic function of the tip tracking error, the elastic deflection, and the input torque of the flexible macro manipulator. The feedback parameters of the predictive controller are chosen such that zero dynamics are asymptotically stable. The combination of the inverse and the predictive controllers accomplishes precise end-effector trajectory tracking and elastic mode stabilization. These results are applied to a planar macro-micro manipulator system consisting of one flexible link and two micro rigid links. Simulation results are presented to show that in the closed-loop system time varying end point trajectory control and elastic mode stabilization are accomplished.

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