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
  • [41] Passivity Analysis for a Single Flexible-Link Robot
    Peza-Solis, J. F.
    Silva-Navarro, G.
    Castro-Linares, R.
    2009 6TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATION CONTROL (CCE 2009), 2009, : 573 - 578
  • [42] Modeling of flexible-link manipulators with prismatic joints
    Indian Inst of Science, Bangalore, India
    IEEE Trans Syst Man Cybern Part B Cybern, 2 (296-305):
  • [43] Neural network control of flexible-link manipulators using sliding mode
    Tang, Yuangang
    Sun, Fuchun
    Sun, Zengqi
    NEUROCOMPUTING, 2006, 70 (1-3) : 288 - 295
  • [44] Nonlinear modeling and control of flexible-link manipulators subjected to parametric excitation
    El-Badawy, Ayman A.
    Mehrez, Mohamed W.
    Ali, Amir R.
    NONLINEAR DYNAMICS, 2010, 62 (04) : 769 - 779
  • [45] Neuro-sliding mode endpoint control of flexible-link manipulators
    Zhang, Yu
    Yang, Tang-Wen
    Sun, Zeng-Qi
    Jiqiren/Robot, 2008, 30 (05): : 404 - 409
  • [46] Modeling of flexible-link manipulators with prismatic joints
    Theodore, RJ
    Ghosal, A
    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 1997, 27 (02): : 296 - 305
  • [47] Optimum structure design for flexible-link manipulators
    Moallem, M
    Khorasani, K
    Patel, RV
    1996 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, VOLS 1-4, 1996, : 798 - 803
  • [48] Vibration control of flexible-link manipulators using generalized output redefinition
    Moallem, M
    Patel, RV
    2001 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION: INTEGRATING INTELLIGENT MACHINES WITH HUMANS FOR A BETTER TOMORROW, 2001, : 23 - 28
  • [49] Inverse dynamics control of flexible-link manipulators using neural networks
    Talebi, HA
    Patel, RV
    Khorasani, K
    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 1998, : 806 - 811
  • [50] Nonlinear modeling and control of flexible-link manipulators subjected to parametric excitation
    Ayman A. El-Badawy
    Mohamed W. Mehrez
    Amir R. Ali
    Nonlinear Dynamics, 2010, 62 : 769 - 779
12345