Decoupling Control of the Two-link Flexible Manipulator

Author

Zhang, Lingbo ; Sun, Funchun ; Sun, Zengqi

Author_Institution

Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing

Volume

2

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

2045

Lastpage

2049

Abstract

To compensate for the coupling force between the joints of the two-link manipulator, using the tip deflection measured by an optical measurement device with position sensitive detectors (PSD), a decoupling controller based on the cloud model is presented in this paper. In the proposed control strategy, the control experience qualitatively expressed by linguistic is transformed into the control rulers through linguistic atoms and cloud models with normal representation. The Experiment studies on the test-bed of a two-link flexible manipulator are carried out to show the capability and effectiveness of the proposed approach.

Keywords

compensation; flexible manipulators; force control; manipulator dynamics; cloud model; coupling force compensation; decoupling controller; optical measurement device; position sensitive detectors; tip deflection; two-link flexible manipulator; Atom optics; Clouds; Force control; Force measurement; Optical control; Optical coupling; Optical devices; Optical sensors; Position measurement; Position sensitive particle detectors; cloud model; decoupling control; flexible link manipulator; joint coupling;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Engineering in Systems Applications, IMACS Multiconference on

Conference_Location

Beijing

Print_ISBN

7-302-13922-9

Electronic_ISBN

7-900718-14-1

Type

conf

DOI

10.1109/CESA.2006.4281975

Filename

4281975