Hostname: page-component-cd9895bd7-p9bg8 Total loading time: 0 Render date: 2024-12-25T04:34:14.436Z Has data issue: false hasContentIssue false
  • English
  • Français

Formulation and control of robots with link and joint flexibility

Published online by Cambridge University Press:  09 March 2009

Sachin Gogate  and
Yueh-Jaw Lin
Sachin Gogate
Affiliation:
Department of Mechanical EngineeringThe University of AkronAkronOH 44325 (U.S.A.)
Yueh-Jaw Lin
Affiliation:
Department of Mechanical EngineeringThe University of AkronAkronOH 44325 (U.S.A.)
Get access Rights & Permissions [Opens in a new window]

Summary

Present study on industrial manipulator control either completely neglects structural flexibility or only considers manipulator link flexibility. Ignoring joint flexibility may cause significant errors in gross motion control if the joint elastic effect is predominant. This paper presents an effective control scheme which can compensate for the motion errors generated by simultaneous existence of both link and joint flexibility. The manipulator dynamics is formulated comprehensively by a superposition of two models, namely, an assumed modes of vibration model for links and a torsional spring model.for joints. Then, a nonlinear feedback rate servo control system is developed that compensates for the gross motion errors introduced by both joint elasticity and link flexibility. Motion simulation results show that the proposed formulation can effectively describe the dynamic behavior of a flexible-link, elastic-joint robot. They also verify that the proposed controller is robust in that it can satisfactorily suppress the manipulator end oscillations and yield an accurate gross motion.

Keywords

Robot controlLink/joint flexibilityDynamic modelsNonlinear feedback.
Type
Research Article
Information
Robotica , Volume 11 , Issue 3 , May 1993 , pp. 273 - 282
Copyright
Copyright © Cambridge University Press 1993

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Lin, Y. and Gogate, S., “Modeling and motion simulation of an N-link flexible robot with elastic joints,” In: Proc. 12th IASTED International Symposium on Robotics & Manufacturing, Santa Barbara, CA (1989) pp. 39–43.Google Scholar
2.Gogate, S., “Gross motion control of flexible manipulators with elastic joints” M.S. Thesis (The University of Akron, 1991).Google Scholar
3.Bayo, E., “A finite-element approach to control the end-point motion of a single-link flexible robot” J. Robotic Systems 4, 63–75 (1987).CrossRefGoogle Scholar
4.P., Karkkainen, “Compensation of manipulator flexibility effects by modal space technique” In: Proc. IEEE International Conference on Robotics and Automation, St. Louis, MO (1985) pp. 972–977.Google Scholar
5.H., Henrichfreise, “The control of an elastic manipulator device using DSP” In: Proc. American Control Conference, Atlanta, GA (1988) pp. 1029–1035.Google Scholar
6.Lin, Y. and Lee, T., “Comprehensive dynamic modeling and motion/force control of flexible manipulators” Mechatronics 2, 129–148 (1992).CrossRefGoogle Scholar
7.Biswas, S. and Klafter, R., “Dynamic modeling and optimal control of flexible robotic manipulators” In: Proc. IEEE International Conference on Robotics and Automation, Philadelphia, PA (1988) pp. 15–20.Google Scholar
8.Cannon, R. and Schmitz, H., “Initial experiments on the control of a flexible one-link robot” Int. J. Robotics Research 62–75 (1984).CrossRefGoogle Scholar
9.Kanoh, H. and Lee, H., “Vibration control of one-link flexible arm” In: Proc. 24th Conference on Decision and Control, Fort Lauderdale, FL (1985) pp. 1172–1177.Google Scholar
10.Krishnan, H. and Vidyasagar, M., “Control of a single link flexible arm using a Hankel-Norm reduced order model” In: Proc. IEEE International Conference on Robotics and Automation, Philadelphia, PA (1988) pp. 9–14.Google Scholar
11.E., Schmitz, “Modeling and control of a planar manipulator with an elastic forearm” In: Proc. IEEE International Conference on Robotics and Automation, Scottsdale, AZ (1989) pp. 894–899.Google Scholar
12.Kotnik, P., Yurkovich, S. and Qzguner, U., “Acceleration feedback control for a flexible manipulator arm” In: Proc. IEEE International Conference on Robotics and Automation, Philadelphia, PA (1988) pp. 322–323.Google Scholar
13.Spong, M., “Modeling and control of elastic joint robots” J. Dynamic Systems, Measurements and Control 310–318 (1987).CrossRefGoogle Scholar
14.Ghorbel, F., Hung, J. and Spong, M., “Adaptive control of flexible joint manipulators” In: Proc. IEEE International Conference on Robotics and Automation, Scottsdale, AZ (1989) pp. 1188–1193.Google Scholar
15.Chen, K. and Fu, L., “Non-Linear adaptive motion control for a manipulator with flexible joints” In: Proc. IEEE International Conference on Robotics and Automation, Scottsdale, AZ (1989) pp. 1201–1206.Google Scholar