A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator

1994 ◽  
Vol 116 (2) ◽  
pp. 193-200 ◽  
Author(s):  
Dong-Soo Kwon ◽  
Wayne J. Book
Keyword(s):  
Time Domain ◽  
Dynamic Method ◽  
Position Control ◽  
Industrial Robots ◽  
Flexible Manipulator ◽  
System Control ◽  
State Variables ◽  
Inverse Dynamic ◽  
Single Link ◽  
Link Flexibility

A manipulator system with a large workspace volume and high payload capacity has greater link flexibility than do typical industrial robots and teleoperators. If link flexibility is significant, position control of the manipulator’s end-effector exhibits nonminimum-phase, noncollocated, and flexible-structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a single-link flexible manipulator. The inverse dynamic equation of a single-link flexible manipulator was solved in the time-domain. By dividing the inverse system equation into its causal part and anticausal part, the inverse dynamic method calculates the feed-forward torque and the trajectories of all state variables that do not excite structural vibrations for a given end-point trajectory. Through simulation and experiment with a single-link manipulator, the effectiveness of the inverse dynamic method in producing fast and vibration-free motion has been demonstrated.

Adaptive Inverse-Dynamic and Neuro-Inverse-Dynamic Active Vibration Control of a Single-Link Flexible Manipulator

2005 ◽  
Vol 219 (6) ◽  
pp. 431-448 ◽  
Author(s):  
M H Shaheed ◽  
H Poerwanto ◽  
M O Tokhi
Keyword(s):  
Position Control ◽  
Control Strategies ◽  
Inverse Model ◽  
Flexible Manipulator ◽  
Recursive Least Squares ◽  
Structural Vibration ◽  
Control Loop ◽  
Inverse Dynamic ◽  
Single Link ◽  
Collocated Control

This paper presents investigations into the development of adaptive inverse-dynamic and neuro-inverse-dynamic control strategies for a flexible manipulator system employing a combined collocated and non-collocated control structure. Collocated control is utilized to track the position of the system while the non-collocated inverse and neuro-inverse control are utilized to reduce the vibration of the system. The controllers are developed in two phases: a collocated position control loop using proportional-derivative feedback control is developed and combined first with an adaptive inverse non-collocated control loop using a recursive least-squares algorithm and then with a neuro-inverse model using a multi-layered perceptron neural network. The problem of instability of the non-collocated control loop arising from the non-minimum phase characteristics of the plant is solved in the former case by reflecting the non-invertible plant zeros into the stability region. In the case of the neuro-inverse model, the problem of instability of the control loop is accounted for through the neuro-inverse learning process. The performances of both the proposed control strategies are assessed within a simulation environment of a single-link flexible manipulator and it is demonstrated that a significant reduction in the level of structural vibration of the system is achieved with both techniques. The significance of the neuro-inverse model approach in achieving stable control is demonstrated.

scholarly journals Evolutionary computing approaches to optimum design of fuzzy logic controller for a flexible robot system

2013 ◽  
Vol 23 (4) ◽  
pp. 395-412 ◽  
Author(s):  
Bidyadhar Subudhi ◽  
Subhakanta Ranasingh
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Position Control ◽  
Fitness Function ◽  
Flexible Manipulator ◽  
Position Tracking ◽  
Flexible Robot ◽  
Robot System ◽  
Single Link ◽  
Tip Position

Abstract This paper presents the design of a Fuzzy Logic Controller (FLC) whose parameters are optimized by using Genetic Algorithm (GA) and Bacteria Foraging Optimization (BFO) for tip position control of a single link flexible manipulator. The proposed FLC is designed by minimizing the fitness function, which is defined as a function of tip position error, through GA and BFO optimization algorithms achieving perfect tip position tracking of the single link flexible manipulator. Then the tip position responses obtained by using both the above controllers are compared to suggest the best controller for the tip position tracking.

Dynamic Stability Analysis of a Two-Link Force-Controlled Flexible Manipulator

1990 ◽  
Vol 112 (4) ◽  
pp. 661-666 ◽  
Author(s):  
B. C. Chiou ◽  
M. Shahinpoor
Keyword(s):  
Dynamic Stability ◽  
Closed Loop ◽  
Position Control ◽  
Dynamic Instability ◽  
Force Sensor ◽  
System Stability ◽  
Flexible Manipulator ◽  
Dynamic Equations ◽  
Equilibrium Configurations ◽  
Link Flexibility

This study investigates the effect of link flexibility on the dynamic stability of a two-link force-controlled robot manipulator. The nonlinear open-loop equations for the compliant motion are derived first. By employing the hybrid force/position control law, the closed-loop dynamic equations are then explicitly derived. The nonlinear closed-loop equations are linearized about some equilibrium configurations. Stability analyses are carried out by computing the eigenvalues of the linearized system equations. Results are verified by the numerical simulations using the complete nonlinear dynamic equations. The effect of the wrist force sensor stiffness on the dynamic stability is also investigated. Results show that the link flexibility is indeed an important source of dynamic instability in the motion of force-controlled manipulators. Moreover, the system stability is dominated by the effect of the distributed flexibility of the first link.

Comparison of Linear and Nonlinear Control on a Distributed Parameter System

1993 ◽  
Author(s):  
Ralph W. Rietz ◽  
Daniel J. Inman
Keyword(s):  
Feedback Control ◽  
Nonlinear Control ◽  
Position Control ◽  
Flexible Manipulator ◽  
Distributed Parameter ◽  
Similar Response ◽  
Nonlinear Feedback ◽  
Control Effort ◽  
Single Link ◽  
Measures Of Performance

Abstract The performance of a single link, very flexible manipulator using two different position control systems was studied. A standard PD feedback control was considered along with PD plus position times velocity feedback. An analytical model of the plant was identified and computer simulations using the two controllers were performed. The results clearly showed a decrease in control effort for the system using nonlinear control when compared to a similar response for the system using PD control. Experimental results on a slewing beam system verified this result. The system using the proposed nonlinear feedback control required significantly less energy to complete the same maneuver as the system using the standard PD feedback control. Other measures of performance (e.g. rise time, settling time, overshoot) were slightly improved when the nonlinear feedback was added to the controller.

Optimum control of a flexible single link manipulator with Artificial Bee Colony Algorithm

2021 ◽  
pp. 095440622110454
Author(s):  
Sezgin Eser ◽  
Sevda Telli Çetin
Keyword(s):  
Artificial Bee Colony Algorithm ◽  
Artificial Bee Colony ◽  
Position Control ◽  
Sampling Period ◽  
Flexible Manipulator ◽  
Assumed Mode Method ◽  
Bee Colony ◽  
Single Link ◽  
Control Objective ◽  
Torque Values

This paper presents a stable control for a single link flexible manipulator. The flexible manipulator is considered as Euler–Bernoulli beam, and its dynamic model is developed based on assumed mode method. Position and vibration control are realised with a single controller as motor torque. The controller has three parameters that must be selected. In this paper, the main motivation is to find the suitable parameter values to generate optimum torque values in every sampling time. In order to achieve this goal, Artificial Bee Colony Algorithm is performed, and the controller parameters are optimised simultaneously in every sampling period. Simulations verify that the manipulator achieves the position control objective, and the vibration is suppressed simultaneously even with different payloads with the proposed optimisation method.

Vibration Control of a Flexible Link Manipulator Using an Array of Fiber-Optic Curvature Sensors and Piezoelectric Actuators

2007 ◽  
Author(s):  
Kerem Gurses ◽  
Bradley J. Buckman ◽  
Edward J. Park
Keyword(s):  
Motion Control ◽  
Sensor Array ◽  
Fiber Optic ◽  
Element Model ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Velocity Feedback ◽  
Lyapunov Approach ◽  
Single Link ◽  
Actuator Control

This paper presents a novel feedback sensing approach for actively suppressing vibrations of a single-link flexible manipulator. Slewing of the flexible link by a rotating hub induces vibrations in the link that persist long after the hub stops rotating. These vibrations are suppressed through a combined scheme of PD-based hub motion control and proposed piezoelectric (PZT) actuator control, which is a composite linear and velocity feedback controller. Lyapunov approach was used to synthesize the controller based on a finite element model of the system. Its realization was possible due to the availability of both linear and angular velocity feedback provided by a unique, commercially-available fiber optic curvature sensor array, called ShapeTape™. It is comprised of an array of fiber optic curvature sensors, laminated on a long, thin ribbon tape, geometrically arranged in such a way that, when it is embedded into the flexible link, the bend and twist of the link’s centerline can be measured. Experimental results show the effectiveness of the proposed approach.

scholarly journals Dynamic modelling and vibration suppression of a single-link flexible manipulator with two cables

2021 ◽  
Vol 162 ◽  
pp. 104347
Author(s):  
Lewei Tang ◽  
Marc Gouttefarde ◽  
Haining Sun ◽  
Lairong Yin ◽  
Changjiang Zhou
Keyword(s):  
Vibration Suppression ◽  
Dynamic Modelling ◽  
Flexible Manipulator ◽  
Single Link
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