Title :
Dynamic model and tip trajectory tracking control for a two-link flexible robotic manipulator
Author :
Dalong, Wang ; Youfang, Lu ; Yan, Liu ; Xiaoguang, Li
Author_Institution :
Dept. of Math. & Mech., Jilin Univ. of Technol., Changchun, China
Abstract :
In this paper, the dynamic model of a two-link flexible robotic manipulator is established in which the body coordinate references of flexible arms adopt clamped-free cases so that the control laws are easily performed. Based on the technique of input-output linearization, the dynamic model is partially linearized. The joint variables are decoupled from the elastic variables. A new coordinate frame is set up by the observable output. In order to avoid the unstable internal dynamics of the tip tracking control system, a nonlinear state feedback control law with the elastic stabilization for two-link flexible manipulators is designed. A sufficient condition for asymptotic stability of the closed-loop system is derived. Simulation results prove the efficiency of this control law
Keywords :
asymptotic stability; closed loop systems; flexible structures; linearisation techniques; manipulator dynamics; state feedback; tracking; asymptotic stability; body coordinate references; closed-loop system; dynamic model; elastic stabilization; elastic variables; flexible arms; input-output linearization; nonlinear state feedback control law; observable output; sufficient condition; tip trajectory tracking control; two-link flexible robotic manipulator; unstable internal dynamics; Arm; Asymptotic stability; Control systems; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Robot kinematics; State feedback; Sufficient conditions; Trajectory;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.571220
