Accurate Trajectory Tracking of Flexible Arm End-Point

2000 ◽  
Vol 33 (27) ◽  
pp. 321-326 ◽  
Author(s):  
M. Benosman ◽  
G. Le Vey
Keyword(s):  
Trajectory Tracking ◽  
End Point ◽  
Flexible Arm

END Point Adaptive Control of a Two-Link Flexible ARM

1992 ◽  
Vol 25 (14) ◽  
pp. 329-334
Author(s):  
L. Dugard ◽  
J.M. Dion ◽  
T. Nguyen ◽  
Thi Thanh
Keyword(s):  
Adaptive Control ◽  
End Point ◽  
Flexible Arm

Inverse Dynamics Based Trajectory Tracking for a One-Link Flexible Arm

1991 ◽  
Author(s):  
Santiago López-Linares ◽  
Roberto F. Jacobus ◽  
Eliodoro Carrera ◽  
Miguel A. Serna
Keyword(s):  
Trajectory Tracking ◽  
Dynamic Problem ◽  
Inverse Dynamics ◽  
Open Loop ◽  
Flexible Manipulator ◽  
Linear Quadratic ◽  
Unknown Parameters ◽  
Inverse Dynamic ◽  
Flexible Arm ◽  
Inverse Dynamic Problem

Abstract This paper presents a new method for controlling a one-link flexible manipulator, based on the solution to the Inverse Dynamic Problem and on a Linear Quadratic Gaussian regulator (LQG). The inverse dynamic solution provides the torque that must be applied by the actuator at the hub to obtain a given trajectory at the tip. This torque can then be used in an open-loop control but, in practice, errors in tip position will appear along the way due to friction, unknown parameters in the model, disturbances, etc. To cope with these problems a trajectory following control is suggested. The technique consists in designing an LQG capable of driving the arm to intermediate states computed in the Inverse Dynamic Problem. Computer simulations with a Finite Element Model of the flexible arm are presented showing a very accurate trajectory tracking.

Robust tip trajectory tracking of a very lightweight single-link flexible arm in presence of large payload changes

Mechatronics ◽  
2012 ◽  
Vol 22 (5) ◽  
pp. 594-613 ◽  
Author(s):  
Vicente Feliu ◽  
Fernando J. Castillo ◽  
Francisco Ramos ◽  
José A. Somolinos
Keyword(s):  
Trajectory Tracking ◽  
Flexible Arm ◽  
Single Link

On the Accuracy of End-Point Trajectory Tracking for Flexible Arms by Noncausal Inverse Dynamic Solutions

1991 ◽  
Vol 113 (2) ◽  
pp. 320-324 ◽  
Author(s):  
H. Moulin ◽  
E. Bayo
Keyword(s):  
Flexible Structures ◽  
Open Loop ◽  
Open Loop Control ◽  
Inverse Dynamic ◽  
Element Discretization ◽  
Loop Control ◽  
End Point ◽  
Flexible Arm ◽  
Single Link ◽  
Flexible Arms

The problem of open-loop control of the end-point trajectory of a single-link flexible arm by an inverse dynamic solution is addressed in this paper. A finite element discretization of the system is used to obtain a set of ordinary differential equations describing the motion. Theoretical difficulties pertaining to the inverse problem for flexible structures are exposed, and it is shown that a noncausal solution for the actuating torque enables a tracking of an arbitrary tip displacement with any desired accuracy.

Adaptive Output Regulation of a Flexible Arm

1996 ◽  
Vol 118 (1) ◽  
pp. 167-172 ◽  
Author(s):  
P. Lucibello ◽  
F. Bellezza
Keyword(s):  
Adaptive Controller ◽  
Least Square ◽  
Linear Feedback ◽  
Robot Arm ◽  
Flexible Robot ◽  
End Point ◽  
Flexible Arm ◽  
Controller Performance ◽  
Payload Mass ◽  
Total Stability

A self-tuned version of a controller for asymptotic trajectory tracking of the end point of a two-link flexible robot arm is presented. The bounded solution to the inverse system, which is used in the control law, is tuned by the estimates of the unknown robot parameters, generated by a least square identification scheme. Soundness of the state of the adaptive controller is achieved by a stabilizing linear feedback from the output error, with fixed gains and robust with respect to variations of the parameters. This guarantees the total stability of the system, which is the main ingredient used in the proof of the controller properties, through a Lyapunov-like approach. The controller performance is finally illustrated by numerically simulating the tracking of an end point ramp under payload mass variations.

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