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A singularly perturbed method for pole assignment control of a flexible manipulator

Published online by Cambridge University Press:  21 November 2002

Atsushi Konno ,
Liu Deman  and
Masaru Uchiyama
Atsushi Konno
Affiliation:
Dept. of Aeronautics and Space Engineering, Tohoku University, Aoba-yama 01, Sendai 980–8579 (Japan)[email protected]
Liu Deman
Affiliation:
Dept. of Automatic Control, Northeastern University, ShenYang City, LiaoNing Province (People's Republic of China). [email protected]
Masaru Uchiyama
Affiliation:
Dept. of Aeronautics and Space Engineering, Tohoku University, Aoba-yama 01, Sendai 980–8579 (Japan)[email protected]
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Abstract

This paper focuses on using a singularly perturbed approach to derive a vibration damping control law in which a pole assignment feedback method is utilized. The composite control system is characterized by two components which can be computed separately. The one is Cartesian-based PI control which drives the end-effector of a flexible manipulator to track the desired time-based trajectory. The other is pole assignment feedback control which damps out vibrations during and at the end of trajectory tracking. An advantage of this composite control method in real implementation is that it does not require a derivative of the end-effector's position, and the derivatives of signals from the strain gauges. From the characteristics and implementation points of view, it appears to be simple to use. Laboratory experiments were conducted to evaluate the performance of the proposed control method.

Keywords

Cartesian spaceFlexible manipulatorPI controlTwo time-scalePole assignment
Type
Research Article
Information
Robotica , Volume 20 , Issue 6 , November 2002 , pp. 637 - 651
Copyright
© 2002 Cambridge University Press

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