A New Approach to Control Single-Link Flexible Arms. Part 3. Adaptive Control of the Tip Position with Payload Changes

1989 ◽  
Author(s):  
Vicente Feliu ◽  
Kuldip S. Rattan ◽  
Jr Brown ◽  
H. B.
Keyword(s):  
Adaptive Control ◽  
New Approach ◽  
Single Link ◽  
Tip Position ◽  
Flexible Arms

Feedforward Control of Single-Link Flexible Manipulators by Discrete Model Inversion

1999 ◽  
Vol 121 (4) ◽  
pp. 713-721 ◽  
Author(s):  
V. Feliu ◽  
K. S. Rattan
Keyword(s):  
Transfer Function ◽  
Feedforward Control ◽  
Point Of View ◽  
Model Inversion ◽  
Single Link ◽  
Feedforward Controller ◽  
Tip Position ◽  
Flexible Arms ◽  
System Transfer Function ◽  
General Method

The design of feedforward controllers to control the position of single-link flexible arms is developed in this paper. The objective is to drive the tip position along a commanded trajectory without any oscillations at the tip. The method is based on the well-known dynamics model inversion technique. Since the controllers are implemented on a computer, the dynamic inversion of the single-link flexible arm is studied from a discrete point of view. A general method to obtain a feedforward controller is developed, even in the case when the system transfer function is of nonminimum phase. The method is general in the sense that it removes oscillation in the arm with any number of vibration modes. A method to modify the transfer function of these controllers to improve the robustness is also proposed in this paper. It is shown that the input preshaping scheme developed by Singer and Seering is a special case of this method. The design technique is illustrated with numerical examples and a comparison with the input preshaping method is carried out.

Modeling and Control of Single-Link Flexible Arms With Lumped Masses

1992 ◽  
Vol 114 (1) ◽  
pp. 59-69 ◽  
Author(s):  
V. Feliu ◽  
K. S. Rattan ◽  
H. B. Brown
Keyword(s):  
Control Method ◽  
Flexible Beam ◽  
Outer Loop ◽  
Modeling And Control ◽  
Control Scheme ◽  
Single Link ◽  
Tip Position ◽  
Flexible Arms ◽  
Lumped Masses ◽  
And Control

This paper deals with the modeling and control of a special class of single-link flexible arms. These arms consist of flexible massless structures having some masses concentrated at certain points of the beam. In this paper, the dynamic model of such flexible arms is developed and some of the control properties are deduced. A robust control scheme to remove the effects of friction in the joins is proposed. The control scheme consists of two nested feedback loops, an inner loop to control the position of the motor and an outer loop to control the tip position. The inner loop is described in other publications. A simple feedforward-feedback controller is designed for the outer loop to drive the beam accurately along a desired trajectory. Effects of the changes in the tip’s mass are studied. This modeling and control method is then generalized to the distributed-mass flexible beam case. Finally, experimental results are presented.

Study on the Effect of Link Flexibility on Tip Position of a Single Link Robotic Arm

2021 ◽  
pp. 142-151
Author(s):  
E. Madhusudan Raju ◽  
L. Siva Rama Krishna ◽  
Y. Sharath Chandra Mouli ◽  
V. Nageswara Rao
Keyword(s):  
Robotic Arm ◽  
Single Link ◽  
Link Flexibility ◽  
Tip Position
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