Trajectory tracking control of robots with flexible links

Date

2002-11-01

Author

Ider, SK
Özgören, Mustafa Kemal
Ay, V

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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 degree of freedom. A two link manipulator is simulated to illustrate the performance of the method. (C) 2002 Elsevier Science. Ltd. All rights reserved.

Subject Keywords

Tip-position tracking, Inverse dynamics, Design

URI

https://hdl.handle.net/11511/30955

Journal

MECHANISM AND MACHINE THEORY

DOI

https://doi.org/10.1016/s0094-114x(02)00043-5

Collections

Graduate School of Natural and Applied Sciences, Article

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Citation Formats

S. Ider, M. K. Özgören, and V. Ay, “Trajectory tracking control of robots with flexible links,” MECHANISM AND MACHINE THEORY, pp. 1377–1394, 2002, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/30955.