Trajectory tracking control of robots with flexible links

2002-11-01
Ider, SK
Özgören, Mustafa Kemal
Ay, V
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.
MECHANISM AND MACHINE THEORY

Suggestions

Motion control of flexible-link manipulators
KILIÇASLAN, SEMA; Ider, S. K.; Özgören, Mustafa Kemal (2008-12-01)
A new method is proposed for the end-effector trajectory tracking control of flexible robot manipulators. The equations of motion are separated into two parts that represent the pseudostatic equilibrium and the deviations from it, The part of the control input for the pseudostatic equilibrium is determined algebraically, and the other part of the control input for the stabilization of the deviations is obtained by a state variable feedback law, by using strain, joint variable, and end-effector position meas...
Locomotion Gait Optimization For Modular Robots; Coevolving Morphology and Control
Pouya, Soha; Aydın Göl, Ebru; Moeckel, Rico; Ijspeert, Auke Jan (2011-01-01)
This study aims at providing a control-learning framework capable of generating optimal locomotion patterns for the modular robots. The key ideas are firstly to provide a generic control structure that can be well-adapted for the different morphologies and secondly to exploit and coevolve both morphology and control aspects. A generic framework combining robot morphology, control and environment and on the top of them optimization and evolutionary algorithms are presented. The details of the components and ...
Force and motion trajectory tracking control of flexible joint robots
Ider, SK (2000-03-01)
An inverse dynamics control algorithm for constrained flexible-joint robots is developed. 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 instantaneous effect on the end-effector contact forces and 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. Joint s...
Motion Control of a Spatial Elastic Manipulator in the Presence of Measurement Noises
Kilicaslan, Sinan; İder, Sıtkı Kemal; Özgören, Mustafa Kemal (2021-07-01)
This paper presents a method for the end effector motion control of a spatial three-link robot having elastic second and third links including measurement noises. In the derivation of equations of motion, not to face with complex equations of motion, each link is modeled as though the links are not connected and the restrictions on the links due to connecting them by joints are written as constraint equations. After that the Lagrange multipliers are eliminated and the constraint equations at the acceleratio...
Position estimation for timing belt drives of precision machinery using structured neural networks
KILIÇ, Ergin; DOĞRUER, CAN ULAŞ; Dölen, Melik; Koku, Ahmet Buğra (2012-05-01)
This paper focuses on a viable position estimation scheme for timing-belt drives using artificial neural networks. In this study, the position of a carriage (load) is calculated via a structured neural network topology accepting input from a position sensor on the actuator side of the timing belt. The paper presents a detailed discussion on the source of transmission errors. The characteristics of the error in different operation regimes are exploited to construct different network topologies. That is, a re...
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.