Two-time scale force and position control of flexible manipulators

2002 ◽  
Author(s):  
B. Siciliano ◽  
L. Villani
Keyword(s):  
Time Scale ◽  
Position Control ◽  
Flexible Manipulators

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.

Vibration Control of Nonholonomically Redundant Flexible Manipulators

2009 ◽  
Vol 419-420 ◽  
pp. 617-620
Author(s):  
Wei Chen ◽  
Yue Qing Yu ◽  
Xin Hua Zhao ◽  
Lian Yu Zhao
Keyword(s):  
Vibration Control ◽  
Position Control ◽  
Control Method ◽  
Elastic Vibration ◽  
Flexible Manipulator ◽  
Flexible Manipulators ◽  
Active Joint ◽  
Optimal Control Strategy ◽  
Passive Joint ◽  
Control Schemes

Underactuated flexible manipulator with redundant degrees of freedoms is investigated. Position control method of a single active joint driving the passive joint is given. According to the characteristics of nonholonomiclly redundant flexible manipulators, the optimal control strategy of multiple active joints driving the passive joints is proposed. As the elastic vibration of flexible links can not be eliminated only through position control, the vibration control schemes are presented again. The simulation results show that the elastic vibration is suppressed effectively. Therefore, for nonholonomically redundant flexible manipulator, both position control and vibration control are implemented successfully, which verifies the validity of the control schemes.

scholarly journals Tip position control of single flexible manipulators based on LQR with the Mamdani model

2016 ◽  
Vol 18 (6) ◽  
pp. 3695-3708
Author(s):  
Xuefeng Yang ◽  
En Lu ◽  
Wei Li ◽  
Yuqiao Wang ◽  
Mengbao Fan ◽  
...  
Keyword(s):  
Position Control ◽  
Flexible Manipulators ◽  
Tip Position

Large-scale Motion of Solar Filaments

2000 ◽  
Vol 179 ◽  
pp. 205-208
Author(s):  
Pavel Ambrož ◽  
Alfred Schroll
Keyword(s):  
Magnetic Flux ◽  
Proper Motion ◽  
Time Scale ◽  
Large Scale ◽  
Accuracy Of Measurements ◽  
Solar Filaments ◽  
General Movement ◽  
Scale Motion ◽  
Velocity Scatter

AbstractPrecise measurements of heliographic position of solar filaments were used for determination of the proper motion of solar filaments on the time-scale of days. The filaments have a tendency to make a shaking or waving of the external structure and to make a general movement of whole filament body, coinciding with the transport of the magnetic flux in the photosphere. The velocity scatter of individual measured points is about one order higher than the accuracy of measurements.

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