Intelligent control of flexible-joint manipulator based on singular perturbation

2010 ◽  
Author(s):  
Zhiyu Shao ◽  
Xiaodong Zhang
Keyword(s):  
Singular Perturbation ◽  
Intelligent Control ◽  
Flexible Joint ◽  
Flexible Joint Manipulator

Intelligent Control of Flexible Joint Manipulator Based on Dynamic Pattern Recognition

2019 ◽  
Vol 34 (08) ◽  
pp. 2050021
Author(s):  
Ya Zhang
Keyword(s):  
Pattern Recognition ◽  
Intelligent Control ◽  
Trajectory Tracking ◽  
Control Method ◽  
Intelligent Manufacturing ◽  
Flexible Manipulator ◽  
Joint Control ◽  
Dynamic Pattern ◽  
Flexible Joint ◽  
Flexible Joint Manipulator

With the rapid development of intelligent manufacturing and Internet technology, the industrial system has entered a new stage of development. As an indispensable carrier for intelligent manufacturing and industrial development, robots are expanding their applications. Among them, the flexible mechanical arm has the advantages of light weight, low energy consumption and low inertia compared with the bulky rigid mechanical arm, and has been increasingly valued. The flexible manipulator is a very complex dynamic system whose dynamic equations are characterized by nonlinearity, strong coupling and time-varying. Therefore, this paper uses the most common and effective method to establish the dynamic model of the flexible manipulator using the Lagrange equation. Due to the uncertain system parameters, lack of control of the trajectory and the influence of load changes and external disturbances, the flexible manipulator has great uncertainty in its control process, and the traditional control methods have not very good control effect. Based on this, this paper proposes a combination of dynamic pattern recognition theory and flexible joint manipulator intelligent control method for the two-link flexible manipulator, and uses the new GA-RBF neural network closed-loop adaptive control method to achieve high precision. Trajectory tracking ensures stability in a shorter time. The simulation results show that the intelligent joint control method based on dynamic pattern recognition has better trajectory tracking and autonomous fast recognition dynamic mode.

Trajectory and Vibration Control of a Single-Link Flexible-Joint Manipulator Using a Distributed Higher-Order Differential Feedback Controller

2017 ◽  
Vol 139 (8) ◽  
Author(s):  
John T. Agee ◽  
Zafer Bingul ◽  
Selcuk Kizir
Keyword(s):  
Trajectory Tracking ◽  
Higher Order ◽  
Feedback Controller ◽  
Step Response ◽  
Position Measurement ◽  
Tracking Errors ◽  
Flexible Joint ◽  
Nonminimum Phase ◽  
Step Input ◽  
Flexible Joint Manipulator

The trajectory tracking in the flexible-joint manipulator (FJM) system becomes complicated since the flexibility of the joint of the FJM superimposes vibrations and nonminimum phase characteristics. In this paper, a distributed higher-order differential feedback controller (DHODFC) using the link and joint position measurement was developed to reduce joint vibration in step input response and to improve tracking behavior in reference trajectory tracking control. In contrast to the classical higher-order differential (HOD), the dynamics of the joint and link are considered separately in DHODFC. In order to validate the performance of the DHODFC, step input, trajectory tracking, and disturbance rejection experiments are conducted. In order to illustrate the differences between classical HOD and DHODFC, the performance of these controllers is compared based on tracking errors and energy of control signal in the tracking experiments and fundamental dynamic characteristics in the step response experiments. DHODFC produces better tracking errors with almost same control effort in the reference tracking experiments and a faster settling time, less or no overshoot, and higher robustness in the step input experiments. Dynamic behavior of DHODFC is examined in continuous and discontinues inputs. The experimental results showed that the DHODFC is successful in the elimination of the nonminimum phase dynamics, reducing overshoots in the tracking of such discontinuous input trajectories as step and square waveforms and the rapid damping of joint vibrations.

Region-Reaching Control of a Flexible-Joint Manipulator

2020 ◽  
Vol 142 (11) ◽  
Author(s):  
J. W. Yu ◽  
X. H. Zhang ◽  
J. C. Ji ◽  
J. Y. Tian ◽  
J. Zhou
Keyword(s):  
Control Problem ◽  
Tracking Control ◽  
Control Algorithm ◽  
Objective Functions ◽  
Flexible Joint ◽  
Point Tracking ◽  
Control Scheme ◽  
Lyapunov Stability Analysis ◽  
Flexible Joint Manipulator ◽  
Theoretical Results

Abstract This paper addresses the region-reaching control problem for a flexible-joint robotic manipulator which is formulated by Lagrangian dynamics. An adaptive control scheme is proposed for the manipulator system having two constrained regions which are constructed by selecting appropriate objective functions. The two joints of the flexible-joint manipulator can be, respectively, confined in different regions, and this gives more flexibility than the traditional fixed-point tracking control. By performing a straightforward Lyapunov stability analysis, a simple control algorithm is established to provide a solution for the region-reaching control problem. Finally, numerical simulations are given to validate the theoretical results.

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