Adaptive control of a single-link flexible manipulator in the presence of joint friction and load changes

Abstract

A method for controlling single-link, lightweight, flexible manipulators is proposed. The objective of this method is to control the tip position of the flexible manipulator in the presence of joint friction and changes in the payload. Both linear and nonlinear friction are overcome using a very robust control scheme that is based on two nested feedback loops: an inner loop to control the position of the motor and an outer loop to control the tip position. Changes in the load are compensated by decoupling the dynamics of the system and then applying a very simple adaptive control for the tip position. This results in a quite simple control law that requires minimal computing effort and thus can be used for real-time control of flexible arms.

Keywords

This publication has 8 references indexed in Scilit:

A multilayer approach to control of a flexible arm
Published by Institute of Electrical and Electronics Engineers (IEEE) ,2005
A multistage-approach to the dynamics and control of elastic robots
Published by Institute of Electrical and Electronics Engineers (IEEE) ,2003
Acceleration feedback for control of a flexible manipulator arm
Journal of Robotic Systems, 1988
Feedback Control of a Flexible Manipulator with a Parallel Drive Mechanism
The International Journal of Robotics Research, 1987
Experiments Toward On-Line Identification and Control of a Very Flexible One-Link Manipulator
The International Journal of Robotics Research, 1987
Application of discrete‐time model reference adaptive control to a flexible single‐link robot
Journal of Robotic Systems, 1987
Classical control design for a flexible manipulator: Modeling and control system design
IEEE Journal on Robotics and Automation, 1987
Model reference adaptive control of a link flexible arm
Published by Institute of Electrical and Electronics Engineers (IEEE) ,1986