DocumentCode :
3338898
Title :
Nonlinear control with input preshaping for flexible-link manipulators
Author :
Khorrami, Farshad ; Jain, Sonal ; Grossman, Walter ; Tzes, Anthony ; Blesser, William
Author_Institution :
Dept. of Electr. Eng., Polytech. Univ., New York, NY, USA
fYear :
1991
fDate :
19-22 June 1991
Firstpage :
96
Abstract :
Input precompensators in conjunction with rigid body based controllers are considered for flexible-link manipulators. The objective is to preshape the reference input signals so that vibration free output is achieved. This control scheme is n open-loop one and is achieved by convolving the sequence of impulses with the reference input signal in real-time. Linear and nonlinear based rigid controllers are considered in the paper. Thereafter, the rigid body based control schemes are augmented with an input preshaper for vibration suppression along the links. Satisfactory performance has been achieved with input preshaping scheme in the case of one-link flexible arms. In the paper, the input preshaping is applied to the dynamics of two-link flexible under the control action of an inner-loop controller which corresponds to the rigid body motion of the manipulator. Experimental and simulation results on a two-link flexible manipulator are provided to show the effectiveness of the advocated controllers.<>
Keywords :
compensation; manipulators; nonlinear control systems; vibration control; flexible-link manipulators; input precompensation; input preshaping; nonlinear based rigid controllers; open-loop; rigid body based controllers; vibration control; vibration suppression; Control systems; Flexible structures; Frequency; Manipulator dynamics; Mechanical engineering; Nonlinear control systems; Open loop systems; Robots; Testing; Vibration control;
fLanguage :
English
Publisher :
ieee
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
Type :
conf
DOI :
10.1109/ICAR.1991.240469
Filename :
240469
Link To Document :
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