Inverse Dynamics-based Control with Parameter Adaptation for Tip-tracking of Flexible Link Robot

2021 ◽  
Author(s):  
Xiaocong Zhu ◽  
Cianyi Yannick ◽  
Jian Cao
Keyword(s):  
Inverse Dynamics ◽  
Flexible Link ◽  
Parameter Adaptation

Dynamics of a Flexible-Link Planar Parallel Manipulator in Cartesian Space

1994 ◽  
Author(s):  
Abbas Fattah ◽  
Arun K. Misra ◽  
Jorge Angeles
Keyword(s):  
Parallel Manipulator ◽  
High Speed ◽  
Inverse Dynamics ◽  
Equations Of Motion ◽  
Flexible Link ◽  
End Effector ◽  
Joint Torques ◽  
Flexible Links ◽  
Cartesian Space ◽  
Planar Parallel Manipulator

Abstract The subject of this paper is the modeling and simulation of a flexible-link planar parallel manipulator in Cartesian space. Given a desired end-effector motion, the inverse kinematics and inverse dynamics of a rigid-link model of the parallel manipulator is used to obtain actuated joint torques. The actual end-effector motion and vibration of the flexible links are obtained using simulation (direct dynamics) for the flexible-link manipulator. Finite elements are used to model the flexible links, while the Euler-Lagrange formulation is used to derive the equations of motion of the uncoupled links. The equations of motion of all the links are assembled to obtain the governing equations for the entire system. The methodology of the natural orthogonal complement, which has been previously applied to flexible-link systems with open-chain structures, is used here to eliminate the constraint forces. Finally, geometric nonlinearities in elastic deformations, which are very important in high-speed operations, are also considered.

Neuro-fuzzy Inverse Dynamics Control for Flexible-link Space Robots

2001 ◽  
Vol 34 (22) ◽  
pp. 203-208
Author(s):  
Fuchun Sun ◽  
Lingbo Zhang ◽  
Zengqi Sun
Keyword(s):  
Inverse Dynamics ◽  
Flexible Link ◽  
Space Robots ◽  
Neuro Fuzzy ◽  
Inverse Dynamics Control

Control of Flexible-Link Multiple Manipulators

2001 ◽  
Vol 124 (1) ◽  
pp. 67-75 ◽  
Author(s):  
Qiao Sun
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Internal Force ◽  
Zero Dynamics ◽  
Nonlinear Inversion ◽  
Flexible Link ◽  
Trajectory Tracking Control ◽  
Multiple Manipulators

In this paper, we consider the object trajectory tracking control for flexible-link cooperating manipulators. In particular, we develop a stable inversion control law which is commonly known as the inverse dynamics control or the computed torque method for rigid manipulators. Difficulties in applying this method to the control of flexible link manipulators are due to the fact that the inverse dynamics system is generally unstable because of the inherently unstable zero dynamics. As such, bounded actuator torques cannot be guaranteed. For multiple manipulators handling a common object, there are more actuators than the degrees of freedom of the system. Through decomposing the manipulator end-effector wrenches into resultant and internal force components, control laws are derived such that the internal forces are used to stabilize the system zero dynamics. Consequently, nonlinear inversion control can be applied for the object trajectory tracking control. Numerical simulations are performed to illustrate the performance of the control strategy developed in the paper.

Object Trajectory Tracking Control for Flexible-Link Multiple Manipulators

1999 ◽  
Author(s):  
Qiao Sun
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Inverse Dynamics ◽  
Internal Force ◽  
Nonlinear Inversion ◽  
Flexible Link ◽  
Trajectory Tracking Control ◽  
Force Components ◽  
Multiple Manipulators

Abstract In this paper, we consider the object trajectory tracking control for flexible-link cooperating manipulators. In particular, we develop a stable inversion control law which is commonly known as the inverse dynamics control or the computed torque method for rigid manipulators. Difficulties in applying this method to the control of flexible link manipulators are due to the fact that the inverse dynamics system is generally unstable. As such, bounded actuator torques cannot be guaranteed. For multiple manipulators handling a common object, there are more actuators than the degrees of freedom of the system. Through decomposing the manipulator end-effector wrenches into resultant and internal force components, control laws are designed such that the internal forces are used to stabilize the system zero dynamics. Consequently, nonlinear inversion control can be applied for the object trajectory tracking control.

An Inverse Dynamics Algorithm for Multiple Flexible-Link Manipulators

2000 ◽  
Vol 6 (4) ◽  
pp. 557-569 ◽  
Author(s):  
Qiao Sun ◽  
Meyer Nahon ◽  
Inna Sharf
Keyword(s):  
Inverse Dynamics ◽  
Flexible Link

Inverse Dynamics Based Fuzzy Logic Controller for a Single-Link Flexible Manipulator

2005 ◽  
Author(s):  
Jamil M. Renno
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Joint Angle ◽  
Inverse Dynamics ◽  
Flexible Manipulator ◽  
Flexible Link ◽  
Residual Vibration ◽  
Single Link ◽  
Novel Method ◽  
Motion Parameters

This paper presents a novel method for an inverse dynamics based fuzzy logic controller (FLC) of a single-link flexible manipulator. The control action is distributed between two FLCs: a joint angle controller and a tip controller. A method for varying the ranges of the variables of the two controllers as a function of the motion parameters and the inverse dynamics of the system is presented. Simulation results show that the joint trajectory tracking is accomplished and the residual vibration of the flexible link is suppressed.

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