A passivity-based control case study of flexible-link manipulators

被引：0
|
作者：
Christoforou, EG [1 ]
Damaren, CJ [1 ]
机构：
[1] Washington Univ, Mallinckrodt Inst Radiol, St Louis, MO 63110 USA
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年
关键词：
flexible-link robots; passivity-based control; modified input/output;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The robotic control problem is considered from the passivity-based control point of view and a modified version of the computed torque method for rigid robots is briefly reviewed. A control strategy suitable for flexible-link robots manipulating large payloads is also presented, which effectively exploits the passivity property satisfied by a suitably defined set of inputs and outputs for the system in conjunction with an approximate model of the dynamics. Both of the above control schemes are experimentally implemented on a flexible-link, multi-joint arm in order to investigate their characteristics and provide useful insight into the control problem for flexible robots.
引用
收藏
页码：993 / 998
页数：6
相关论文
共 50 条
  • [1] Passivity-based boundary control of a flexible-link gantry robot
    Jang, JT
    Yuan, K
    JOURNAL OF THE CHINESE INSTITUTE OF ENGINEERS, 2005, 28 (06) : 993 - 997
  • [2] Passivity-based control of a flexible link robot
    Saad, M
    Saydy, L
    Akhrif, O
    2000 CANADIAN CONFERENCE ON ELECTRICAL AND COMPUTER ENGINEERING, CONFERENCE PROCEEDINGS, VOLS 1 AND 2: NAVIGATING TO A NEW ERA, 2000, : 118 - 123
  • [3] A new design methodology for passivity-based control of single-link flexible manipulators
    Pereira, Emiliano
    Diaz, Ivan M.
    Cela, Juan J. L.
    Feliu, Vicente
    2007 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 2007, : 865 - +
  • [4] Control of flexible-link multiple manipulators
    Sun, Q
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2002, 124 (01): : 67 - 75
  • [5] Motion control of flexible-link manipulators
    Kilicaslan, S.
    Ider, S. K.
    Oezgoeren, M. K.
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2008, 222 (12) : 2441 - 2453
  • [6] Passivity-based control of single-link flexible manipulators using a linear strain feedback
    Feliu, Vicente
    Pereira, Emiliano
    Diaz, Ivan M.
    MECHANISM AND MACHINE THEORY, 2014, 71 : 191 - 208
  • [7] Review of modelling and control of flexible-link manipulators
    Sayahkarajy, Mostafa
    Mohamed, Z.
    Faudzi, Ahmad Athif Mohd
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2016, 230 (08) : 861 - 873
  • [8] An adaptive predictive control for flexible-link manipulators
    Talebi, HA
    Sabzegar, R
    PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3, 2003, : 1371 - 1375
  • [9] LYAPUNOV-BASED CONTROL DESIGNS FOR FLEXIBLE-LINK MANIPULATORS
    JUANG, JN
    YANG, LF
    HUANG, JK
    AIAA/ASME/ASCE/AHS/ASC 30TH STRUCTURES, STRUCTURAL DYNAMICS AND MATERIALS CONFERENCE, PTS 1-4: A COLLECTION OF TECHNICAL PAPERS, 1989, : 497 - 506
  • [10] Cloud model-based control of flexible-link manipulators
    Zhang, LB
    Sun, FC
    Sun, ZQ
    PROCEEDINGS OF THE 2005 INTERNATIONAL CONFERENCE ON NEURAL NETWORKS AND BRAIN, VOLS 1-3, 2005, : 1067 - 1072
12345