Title :
End-effector robust trajectory tracking control for flexible robot manipulators
Author_Institution :
Dept. of Mech. Syst. Eng., Hiroshima Inst. of Technol., Japan
Abstract :
This work proposes a robust control strategy for end-effector trajectory tracking of flexible robot manipulators in the presence of parametric uncertainties and dynamic modeling errors. Using an ideal manifold, the desired performance of the system is described in terms of vibration damping and end-effector flexural error compensating. The control law is derived based on the estimated dynamics such that the motion of the system would converge and remain to the ideal manifold for the idea case that the parametric uncertainties and modeling errors can be ignored. To achieve the robustness of the system, the robust control scheme is developed and added into the control system. Stability of the whole control system is investigated using the Lyapunov stability theory. Simulations are carried out to illustrate the effectiveness of the proposed control method.
Keywords :
Lyapunov methods; end effectors; flexible manipulators; position control; robust control; vibration control; Lyapunov stability theory; dynamic modeling errors; end-effector flexural error; end-effector robust trajectory tracking control; flexible robot manipulators; parametric uncertainties; vibration damping; Control systems; Damping; Error correction; Manipulator dynamics; Motion control; Motion estimation; Robot control; Robust control; Trajectory; Uncertainty;
Conference_Titel :
Systems, Man and Cybernetics, 2004 IEEE International Conference on
Print_ISBN :
0-7803-8566-7
DOI :
10.1109/ICSMC.2004.1401223