Passivity-based control of single-link flexible manipulators using a linear strain feedback

Published on Jan 1, 2014in Mechanism and Machine Theory3.866
· DOI :10.1016/J.MECHMACHTHEORY.2013.07.009
Vicente Feliu33
Estimated H-index: 33
(UCLM: University of Castilla–La Mancha),
Emiliano Pereira11
Estimated H-index: 11
(University of Alcalá),
Iván M. Díaz15
Estimated H-index: 15
(UCLM: University of Castilla–La Mancha)
Sources
Abstract
Abstract This work presents a new methodology for the design of a passivity-based control of single-link flexible manipulators. The control objective is the precise positioning of the link tip under large payload changes, which is achieved by combining a precise joint positioning with a link vibration damping. The main ingredients of the proposed methodology are as follows: a) a linear strain feedback is used to decouple the joint and link dynamics, b) the precise joint positioning is thus simplified to a motor controller, which is designed to be robust to joint frictions, and c) the residual tip vibrations are damped by a control designed using a passivity property between the strain measured at the base of the link and the joint velocity. Simulations and experimental results illustrated the performance of the proposed methodology.
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#1Yunjun Xu (UCF: University of Central Florida)H-Index: 5
#2Erich RitzH-Index: 2
Because of the light weight and less wear and tear on components, the flexible beam/arm has been and will continue to be an appealing option for civil and military applications, such as space-based flexible manipulators. However, flexibility brings with it unwanted oscillations and severe chattering which may even lead to an unstable system. To tackle these challenges, a two-time scale controller is presented to track a desired tip point signal and at the same time mitigate the tip point vibrati...
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#1Mohammad S. Alam (University of Sheffield)H-Index: 37
#2M. O. Tokhi (University of Sheffield)H-Index: 28
To reduce the end-point vibration of a single-link flexible manipulator without sacrificing its speed of response is a very challenging problem since the faster the motion, the larger the level of vibration. A conventional controller can hardly meet these two conflicting objectives simultaneously. This paper presents a genetic algorithm (GA)-based hybrid fuzzy logic control strategy to achieve that goal. A proportional-derivative (PD) type fuzzy logic controller utilising hub-angle error and hub...
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#1Sanjay SharmaH-Index: 17
#2M. N. H. SiddiqueH-Index: 2
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Input Shaping is a widely used method of suppressing residual vibrations in point-to-point motion of flexible bodies. It is easy to implement and gives good results if the dynamics of the system are known accurately. However, it is not very robust to system parameter variations. Early methods of increasing the robustness incurred a large time penalty. Hence attempts were made to apply adaptive control to increase the robustness of the shaper. These methods met with varying degrees of success. In...
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#1Santosha K. Dwivedy (IITG: Indian Institute of Technology Guwahati)H-Index: 22
#2Peter Eberhard (University of Stuttgart)H-Index: 30
In this paper a survey of the literature related to dynamic analyses of flexible robotic manipulators has been carried out. Both link and joint flexibility are considered in this work and an effort has been made to critically examine the methods used in these analyses, their advantages and shortcomings and possible extension of these methods to be applied to a general class of problems. Papers are classified according to modeling, control and experimental studies. In case of modeling they are su...
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#1Mouhacine Benosman (URCA: University of Reims Champagne-Ardenne)H-Index: 17
#2G. Le Vey (CNRS: Centre national de la recherche scientifique)H-Index: 8
A survey of the field of control for flexible multi-link robots is presented. This research area has drawn great attention during the last two decades, and seems to be somewhat less “attractive” now, due to the many satisfactory results already obtained, but also because of the complex nature of the remaining open problems. Thus it seems that the time has come to try to deliver a sort of “state of the art” on this subject, although an exhaustive one is out of scope here, because of the great amo...
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#1Mehrdad Moallem (UWO: University of Western Ontario)H-Index: 35
#2Mehrdad R. Kermani (UWO: University of Western Ontario)H-Index: 18
Last. M. Ostojic (National Research Council)H-Index: 2
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This brief addresses the control problem of a structurally flexible positioning system by utilizing transducers made of Lead (Pb) Zirconate Titanate (PZT), commonly referred to as piezoelectric transducers, to act as actuator and sensor elements. The system possesses nonlinear dynamics and undesirable characteristics such as friction. The placement of PZT actuators on the flexible structure is studied and a nonlinear tracking control scheme augmented with a friction compensation term is develope...
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#1Jee-Hwan Ryu (KAIST)H-Index: 30
#2Dong-Soo Kwon (KAIST)H-Index: 38
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A new method to control a flexible manipulator with noncollocated feedback is proposed. We introduce a method to implement the time-domain passivity-control approach to a flexible manipulator with noncollocated feedback, which could not be treated with the previous time-domain passivity-control framework due to a possible active transfer function from the input to the noncollocated output. The proposed method is simulated with a single-link flexible manipulator, and a good control performance is...
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#1Vicente FeliuH-Index: 33
#2José A. SomolinosH-Index: 15
Last. Andrés GarcíaH-Index: 8
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This article describes a new control scheme designed for a three-degree-of-freedom flexible arm. This arm has been built with light links, has most of its mass concentrated at the tip, and uses a special mechanical configuration to approximately decouple tip motions in spherical coordinates. This configuration facilitates the dynamic modeling and control of the arm. A compliance matrix can be used to model the oscillations of the structure. A consequence of this simple dynamic is that minimum se...
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#1Liang-Yih Liu (NTU: National Taiwan University)H-Index: 3
#2King Yuan (NTU: National Taiwan University)H-Index: 10
The passivity property of a noncollocated single-link flexible manipulator with a parameterized output is studied. The system can be characterized by either the irrational transfer function of an infinite-dimensional model or its truncated rational transfer functions. Necessary and sufficient conditions for these transfer functions to be passive are found. It is also shown that a non-passive, marginal minimum-phase, truncated transfer function can be rendered passive by using either the root str...
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#1S. Ramalingam (B. S. Abdur Rahman University)
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ABSTRACTIn this article, a collection of literature relevant to dynamic model and simulation analyses of flexible robotic manipulators have been considered for the years 2006–2015. The dynamics of ...
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#2Mohssen Hosseini (EPFL: École Polytechnique Fédérale de Lausanne)H-Index: 8
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We propose a new control approach for the twisted string actuation (TSA) system; a hybrid control scheme consisting of two nested loops, considering the motor angle and the axial force at the clamping point of the actuator as the system outputs. We show that measuring the axial force at the base of the actuator, we can effectively estimate and compensate the coupling torque between the motor and the external load. Then, compensation of the coupling torque allows formulating a linear control law ...
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Abstract This paper presents an improved vibration control method that controls the amplitudes of residual vibrations of a flexible non-uniform shaped manipulator with higher suppression ratio. The proposed new method suppresses the residual vibrations that occur after motion by shaping the velocity input. By considering the parameters of the experimental system, an analytical model is established according to the natural frequency of the system which is effective in the vibrations that occur in...
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#1Mohammad Javad Mahmoodabadi (Sirjan University of Technology)H-Index: 16
#2N. Nejadkourki (Sirjan University of Technology)H-Index: 2
This work presents a novel fuzzy adaptive sliding mode-based feedback linearization controller for trajectory tracking of a flexible robot manipulator. To reach this goal, after deriving the dynamical equations of the robot, the feedback linearization approach is utilized to change the nonlinear dynamics to a linear one and find the control law. Then, the sliding mode control strategy is implemented to design a stabilizer for trajectory tracking of the flexible robot. In order to adaptively tune...
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#1Vicente Feliu-Batlle (UCLM: University of Castilla–La Mancha)H-Index: 15
#2Daniel Feliu-Talegon (University of Seville)H-Index: 6
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Abstract This paper studies the active damping of the oscillations of lightly damped linear systems whose parameters are indeterminate or may change through time. Systems with an arbitrary number of vibration modes are considered. Systems described by partial differential equations, that yield an infinite number of vibration modes, can also be included. In the case of collocated feedback, i.e. the sensor is placed at the same location of the actuator, a simple fractional order differentiation or...
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This paper proposes an adaptive fault-tolerant control scheme for a single-link flexible manipulator with actuator failure and uncertain boundary disturbance. The dynamic model of the flexible mani...
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#1Chenbo Niu (YZU: Yangzhou University)
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In this study, a novel disturbance observer-based (DOB) L 1 robust anti-disturbance tracking control problem is discussed for a kind of single-link flexible-joint manipulator with separate types of disturbances. On the one hand, a disturbance observer is imported to estimate the modelable disturbances. On the other hand, the introduction of L 1 performance index optimises the impact of unmodelled disturbances on the system. A DOB proportional-integral control input is proposed such that the stab...
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#1Feng Yu (WUST: Wuhan University of Science and Technology)H-Index: 1
#2Xinyuan Chen (WUST: Wuhan University of Science and Technology)H-Index: 1
Considering the complex dynamic modeling of multi-DOF planar flexible manipulators, a general-purpose method for the rigid-flexible coupling dynamic modeling of N-DOF flexible manipulators is proposed in this paper, and symbolic calculation software is developed. The modeling method is based on the Lagrange equation and assumed mode method (AMM). First, the N-DOF flexible manipulator is divided into two parts, which are assumed to be rigid and flexible. On this basis, the rigid part and the flex...
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#1Ju Jinyong (CUMT: China University of Mining and Technology)H-Index: 5
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The problem of the elastic vibration control for a translational flexible manipulator system (TFMS) under variable load conditions is studied. The input shaper can effectively filter out the vibration excitation components for the flexible manipulator in the driving signals, but the adaptability and rapidity of the conventional input shaper are poor because it is essentially an open-loop control mode and there are time-lag links inevitably. Thus, by combining the state feedback with the input sh...
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