Title

Dual Mode Control of an Elastic Robotic Arm: Nonlinear Inversion and Stabilization by Pole Assignment

Document Type

Article

Publication Date

1990

Publication Title

International Journal of Systems Science

Volume

21

Issue

7

First page number:

1185

Last page number:

1204

Abstract

This paper considers control of an elastic robotic arm of two links based on nonlinear inversion and pole assignment for stabilization. The design is done in two steps. First, based on nonlinear inversion, a nonlinear controller is designed for the trajectory control of the joint angles using joint torquers. Although, the inverse controller accomplishes trajectory control of the joint angles, this excites the elastic modes of the arm. In order to damp the elastic oscillations, a stabilizer is designed for a linearized system about the terminal state using pole assignment technique. In the closed-loop system, first the inverse controller acts when a command is given, and the stabilizer automatically switches when the joint angle trajectory enters a specified neighborhood of the final commanded position.

Keywords

Automatic control systems; Computer science; Control systems; Error correction; Lighting control; Manipulator dynamics; Manipulators (Mechanism); Nonlinear dynamical systems; Nonlinear systems; Robots – Control systems; Robots — Kinematics; Robust control; Torque control

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