Title :
Nonlinear control of a single-link flexible joint manipulator using differential flatness
Author :
Didam, Markus E. ; Agee, J.T. ; Jimoh, A.A. ; Tlale, Nkgatho
Author_Institution :
Dept. of Electr. Eng., Tshwane Univ. of Technol., Pretoria, South Africa
Abstract :
In this paper, a nonlinear feedback controller is proposed for a single link flexible joint manipulator based on the concept of differential flatness. The control design is approached from the perspective of using input state feedback linearization via the flatness property of the robot. It is shown that the nonlinear dynamics of the manipulator satisfies the controllability and involutivity conditions required for the selection of a flat output. With the flat output, trajectories of motion are generated. A feedback controller is then designed to track the trajectories. Tracking results show the effectiveness of the proposed flatness based control scheme.
Keywords :
control system synthesis; controllability; linearisation techniques; manipulator dynamics; nonlinear control systems; state feedback; trajectory control; controllability conditions; differential flatness; flat output selection; flatness based control scheme; input state feedback linearization; involutivity conditions; manipulator nonlinear dynamics; motion trajectory generation; nonlinear feedback controller design; robot flatness property; single-link flexible joint manipulator; trajectory tracking; Equations; Joints; Manipulator dynamics; Mathematical model; Trajectory; Differential flatness; Flexible manipulator; nonlinear control; trajectory tracking;
Conference_Titel :
Robotics and Mechatronics Conference of South Africa (ROBOMECH), 2012 5th
Conference_Location :
Gauteng
Print_ISBN :
978-1-4673-5182-9
DOI :
10.1109/ROBOMECH.2012.6558453
