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Active control of flexible one-link manipulators using wavelet networks

Published online by Cambridge University Press:  07 June 2013

V. I. Gervini ,
E. M. Hemerly  and
S. C. P. Gomes
V. I. Gervini
Affiliation:
Applied Mathematics and Control Laboratory, Federal University of Rio Grande (FURG), Av. Itália Km 8, 96201-900, Rio Grande, RS, Brazil
E. M. Hemerly
Affiliation:
Technological Institute of Aeronautics (ITA), Electronics Division Praça Marechal Eduardo Gomes 50, 12228-900, São José dos Campos, SP, Brazil
S. C. P. Gomes*
Affiliation:
Applied Mathematics and Control Laboratory, Federal University of Rio Grande (FURG), Av. Itália Km 8, 96201-900, Rio Grande, RS, Brazil
*
*Corresponding author. E-mail: [email protected]
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Summary

The design of control laws for flexible manipulators is known to be a challenging problem, when using a conventional actuator, i.e., a motor with gear. This is due to the friction of the nonlinear actuator, which causes torque dead zone and stick-slip behavior, thereby hampering the good performance of the control system. The torque needed to attenuate the vibrations, although calculated by the control law, is consumed by the friction inside the actuator, rendering it ineffective to the flexible structure control. Nonlinear friction varies with different operational conditions of the actuator and a friction compensation mechanism based on these models cannot always keep a good performance. This study proposes a new control strategy using wavelet network to friction compensation. Experimental results obtained with a flexible manipulator attest to the good performance of the proposed control law.

Keywords

Flexible robotsWavelet networksFrictionControlModeling
Type
Articles
Information
Robotica , Volume 31 , Issue 8 , December 2013 , pp. 1275 - 1283
Copyright
Copyright © Cambridge University Press 2013 

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