Trajectory tracking control of robotic manipulators with flexible joints

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047415.pdf
1995
Erdağı, İnanç
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https://hdl.handle.net/11511/10036
Graduate School of Natural and Applied Sciences, Thesis

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Inverse dynamics control of flexible-joint robots is addressed. It is shown that, in a flexible-joint robot, the acceleration level inverse dynamic equations are singular because the control torques do not have an instantaneou; effect on the end-effector accelerations due to the elastic media. Implicit numerical integration methods that account for the higher order derivative information are utilized for solving the singular set of differential equations. The trajectory tracking control law presented linear...
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A new method is developed for the end-effector trajectory tracking control of robots with flexible links. In order to cope with the non-minimum phase property of the system, the closed-loop poles are placed at desired locations using full state feedback. The dynamic equations are linearized about the rigid motion. A composite control law is designed to track the desired trajectory while at the same time the internal dynamics is stabilized. The proposed method is valid for all types of manipulators with any ...
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TRAJECTORY TRACKING CONTROL OF AN UNDERACTUATED UNDERWATER VEHICLE REDUNDANT MANIPULATOR SYSTEM
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The purpose of this study is to control the position of an underactuated underwater vehicle manipulator system (U-UVMS). It is possible to control the end-effector using a regular 6-DOF manipulator despite the undesired displacements of the underactuated vehicle within a certain range. However, in this study an 8-DOF redundant manipulator is used in order to increase the positioning accuracy of the end-effector. The redundancy is resolved according to the criterion of minimal vehicle and joint motions. The ...
Citation Formats
İ. Erdağı, “Trajectory tracking control of robotic manipulators with flexible joints,” Middle East Technical University, 1995.
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