A Passivity-Based Control Case Study of Flexible-Link Manipulators

Author

Christoforou, E.G. ; Damaren, C.J.

Author_Institution

Washington University Mallinckrodt Institute of Radiology 4525 Scott Av., CB 8225, St. Louis, MO 63110, USA christoforoue@mir.wustl.edu

fYear

2005

fDate

18-22 April 2005

Firstpage

993

Lastpage

998

Abstract

The robotic control problem is considered from the passivity– based control point of view and a modified version of the computed torque method for rigid robots is briefly reviewed. A control strategy suitable for flexible–link robots manipulating large payloads is also presented, which effectively exploits the passivity property satisfied by a suitably defined set of inputs and outputs for the system in conjunction with an approximate model of the dynamics. Both of the above control schemes are experimentally implemented on a flexible– link, multi-joint arm in order to investigate their characteristics and provide useful insight into the control problem for flexible robots.

Keywords

Flexible– link robots; modified input/output; passivity– based control; Aerodynamics; Computer aided software engineering; Control systems; Manipulators; Orbital robotics; Payloads; Radio control; Robot control; Robot kinematics; Torque control; Flexible– link robots; modified input/output; passivity– based control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Conference_Location

Barcelona, Spain

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570246

Filename

1570246