Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises

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Date

2022-07-01

Author

Kılıçaslan, Sinan
Özgören, Mustafa Kemal
Ider, Sıtkı Kemal

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This work addresses the end-effector trajectory-tracking force and motion control of a three-dimensional three-link robot considering measurement noises. The last two links of the manipulator are considered as structurally flexible. An absolute coordinate approach is used while obtaining the dynamic equations to avoid complex dynamic equations. In this approach, each link is modeled as if there is no connection between the links. Then, joint connections are expressed as constraint equations. After that, these constraint equations are used in dynamic equations to decrease the number of equations. Then, the resulting dynamic equations are transformed into a form which is suitable for controller design. Furthermore, the dynamic equations are divided as pseudostatic equilibrium and deviation equations. The control torques resulting from the pseudostatic equilibrium and the elastic deflections are obtained easily as the solution of algebraic equations. On the other hand, the control torques corresponding to the deviations are obtained without any linearization. Encoders, strain gauges, position sensors and force and moment sensors are required for measurements. Low pass filters are considered for the sensors. For the crossover frequencies of the sensors, low and high values are chosen to observe the filtering effect on the robot output.

Subject Keywords

constrained motion control, flexible manipulators, flexible robots, force and motion control, measurement noises

URI

https://hdl.handle.net/11511/98507

Journal

Machines

DOI

https://doi.org/10.3390/machines10070513

Collections

Department of Mechanical Engineering, Article

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Citation Formats

S. Kılıçaslan, M. K. Özgören, and S. K. Ider, “Hybrid Force and Motion Control of a Three-Dimensional Flexible Robot Considering Measurement Noises,” Machines, vol. 10, no. 7, pp. 0–0, 2022, Accessed: 00, 2022. [Online]. Available: https://hdl.handle.net/11511/98507.