Title :
Control of a robot with two flexible links
Author :
Aoustin, Y. ; Chedmail, P. ; Chevallereau, C. ; Froment, A. ; Faillot, M.
Author_Institution :
Lab. d´´Autom. de Nantes, ENSEM, France
Abstract :
Presents experimental results which are obtained by using a nonlinear control law on a two link flexible robot. Using finite element description of the arms, the authors get a nonlinear model of the robot. The nonlinear decoupling control law uses the inverse dynamic model. This control law, which is very efficient for a rigid robot, has been adapted for flexible structures. The elastic vibrations must be damped by adding to the computed torque a complementary feedback term. This term permits one to obtain a satisfactory behaviour of the structure, but reduces the theoretical interest of the decoupling method. It is computed by linearizing the set of equations on a given point of the desired trajectory and by using a classical LOR method. The experimental results demonstrate the interest of the method and shows its sensitivity versus the position of the linearization point.<>
Keywords :
feedback; nonlinear control systems; optimal control; robots; vibration control; LOR method; elastic vibrations; finite element description; flexible links; nonlinear control law; optimal control; vibration damping; Displacement control; Equations; Feedback; Finite element methods; Flexible structures; Inverse problems; Lighting control; Manipulators; Robot control; Torque;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240466