Title :
Design and experimental evaluation of a single robust position/force controller for a single flexible link (SFL) manipulator in collision
Author :
Ziaei, Kamyar ; Wang, David W. L.
Author_Institution :
Dept. of Electr. & Comput. Eng., Waterloo Univ., Ont., Canada
Abstract :
This paper presents a design methodology for designing position/force controllers for a single flexible link (SFL) manipulator. The objective is to design a single controller that stabilizes the system during both constrained and unconstrained motion, avoiding problems that arise when using switching controllers. A coherent system identification based robust control design methodology is presented. As a robust controller, we consider the quantitative feedback theory (QFT) based design. The proposed method is very suitable since linear model of constrained SFL manipulator is a gross simplification and includes significant uncertainties that can be handled well in the QFT frame work.
Keywords :
control system synthesis; feedback; flexible manipulators; force control; position control; robust control; coherent system identification; constrained motion; controller design; force control; position control; quantitative feedback theory; robust control; single flexible link manipulator; switching controllers; system stability; unconstrained motion; Control systems; Design engineering; Design methodology; Force control; Frequency domain analysis; Motion control; Orbital robotics; Robust control; System identification; Transfer functions;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242069