Title :
Composite control of flexible link flexible joint manipulator
Author :
Shihabudheen, K.V. ; Jacob, Jeevamma
Author_Institution :
Dept. of Electr. Eng., Nat. Inst. of Technol., Calicut, India
Abstract :
This paper presents composite control of flexible link flexible joint manipulator for precise position tracking and vibration suppression control simultaneously. The dynamic model of the manipulator has been developed using Lagrangian mechanics and Assumed Modes Method (AMM). The link has been considered as an Euler-Bernoulli beam subjected to a small angular displacement. A computed torque (CT) control is used for the position control and a Linear Quadratic Regulator (LQR) is designed for vibration control. It is verified through numerical simulations that the proposed composite control suppresses the joint and link vibrations of the manipulator satisfactorily, while achieving perfect trajectory tracking.
Keywords :
flexible manipulators; linear quadratic control; numerical analysis; torque control; trajectory control; vibration control; AMM; CT control; Euler-Bernoulli beam; LQR design; Lagrangian mechanics; angular displacement; assumed modes method; composite control; computed torque control; dynamic model; flexible link flexible joint manipulator; joint vibration suppression; linear quadratic regulator; link vibration suppression; numerical simulations; position control; precise position tracking; trajectory tracking; vibration suppression control; Joints; Manipulator dynamics; Mathematical model; Torque; Trajectory; Vibrations; Assumed Mode Method; Composite Control; Computed Torque; Flexible Link Flexible Joint;
Conference_Titel :
India Conference (INDICON), 2012 Annual IEEE
Conference_Location :
Kochi
Print_ISBN :
978-1-4673-2270-6
DOI :
10.1109/INDCON.2012.6420732
