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

fYear

2012

fDate

7-9 Dec. 2012

Firstpage

827

Lastpage

831

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;

fLanguage

English

Publisher

ieee

Conference_Titel

India Conference (INDICON), 2012 Annual IEEE

Conference_Location

Kochi

Print_ISBN

978-1-4673-2270-6

Type

conf

DOI

10.1109/INDCON.2012.6420732

Filename

6420732