Title

Trajectory control of flexible manipulator using macro-micro manipulator system

Document Type

Conference Proceeding

Publication Date

12-13-1995

Publication Title

Proceedings of the 34th IEEE Conference on Decision and Control

Publisher

IEEE

First page number:

2841

Last page number:

2846

Abstract

The question of end-point trajectory control of flexible macro-micro manipulator based on variable structure control (VSC) and predictive control techniques is considered. A VSC law is derived for the end point trajectory control of the rigid micro manipulator. For the end-point control of the flexible macro manipulator, a predictive control law is derived. The predictive control law is obtained by minimizing a quadratic function of the tip tracking error of the flexible link (macro), the elastic deflection, and the input torque of the macro manipulator. The combination of the VSC and the predictive controllers accomplishes precise end-effector trajectory tracking and elastic mode stabilization. These results are applied to a planar macro-micro manipulator system consisting of one flexible link and two micro rigid links. Simulation results are presented to show that in the closed-loop system time varying end point trajectory control and elastic mode stabilization are accomplished

Keywords

Arm; Control systems; Electric variables control; Force control; Manipulator dynamics; Mechanical engineering; Mechanical variables control; Nonlinear control systems; Predictive control; Trajectory

Disciplines

Controls and Control Theory | Electrical and Computer Engineering | Engineering | Nanoscience and Nanotechnology | Systems and Communications

Language

English

Permissions

Use Find in Your Library, contact the author, or interlibrary loan to garner a copy of the item. Publisher policy does not allow archiving the final published version. If a post-print (author's peer-reviewed manuscript) is allowed and available, or publisher policy changes, the item will be deposited.

Identifier

DOI: 10.1109/CDC.1995.478549

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