Title :
Modeling and control of a slewing nonlinear flexible arm with tip body
Author :
Ohsumi, Akira ; Kadowaki, Takumi ; Sensui, Osamu
Author_Institution :
Dept. of Mech. & Syst. Eng., Kyoto Inst. of Technol., Japan
Abstract :
This paper deals with the nonlinear dynamic modeling and control of a slewing flexible arm with eccentric tip body. Both bending and torsion motion of the arm is allowed and the modeling preserves the kinematic nonlinearities of the maneuvering arm. Control is accomplished by a motor equipped at the base of the manipulator. The Lagrangian formulation is treated in deriving mathematical model which reveals to be nonlinear and to consist of one ordinary differential equation and two partial differential ones. Using the Lie theoretic approach and the boundary homogenization technique, the nonlinear system is partially linearized with its inhomogeneous boundary conditions transformed to homogeneous ones. By introducing an idea of equivalent linearization, positioning control incorporating both rigid motion control and vibration suppression is obtained in a feedback form. Finally, several numerical simulation results are presented to demonstrate the effectiveness of the proposed theory
Keywords :
Lie algebras; feedback; flexible structures; linearisation techniques; manipulator kinematics; nonlinear control systems; nonlinear dynamical systems; partial differential equations; vibration control; Lagrangian formulation; Lie theory; bending; boundary homogenization technique; eccentric tip body; equivalent linearization; kinematic nonlinearities; maneuvering arm; nonlinear dynamic control; nonlinear dynamic modeling; partial differential equations; positioning control; rigid motion control; slewing nonlinear flexible arm; torsion motion; vibration suppression; Boundary conditions; Differential equations; Kinematics; Lagrangian functions; Linear feedback control systems; Manipulator dynamics; Mathematical model; Motion control; Nonlinear systems; Vibration control;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.573509