Theodore, Rex J and Ghosal, Ashitava (2003) Robust control of multilink flexible manipulators. In: Mechanism and Machine Theory, 38 (4). pp. 367-377.
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This paper deals with some robustness aspects of a model based controller used for trajectory tracking in multi-link flexible manipulators. It is known in literature that the finite element formulation over-estimates the natural frequencies of the original system. We show that over-estimation of natural frequencies may lead to unstable closed-loop response for flexible manipulators using a model based inversion control algorithm. A robust controller design based on the second method of Lyapunov using simple quantitative bounds on the model uncertainties is illustrated for use during the trajectory tracking phase in multi-link manipulator control. In order to actively suppress the link vibrations excited during the trajectory tracking phase, a second controller based on end-point sensing and the rigid Jacobian of the manipulator is used. The performance of the two-stage controller is illustrated with the help of numerical simulations of a flexible elbow manipulator.
|Item Type:||Journal Article|
|Additional Information:||Copyright of this article belongs to Elsevier Science.|
|Department/Centre:||Division of Mechanical Sciences > Mechanical Engineering|
|Date Deposited:||03 Nov 2009 08:49|
|Last Modified:||19 Sep 2010 04:56|
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