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Extended Kalman filtering for flexible joint space robot control
2011
Proceedings of the 2011 American Control Conference
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The state estimates are coupled to a flexible joint adaptive controller in order to provide a complete closed-loop solution for real-time estimation and control. ...
Second, an extension for a novel nonlinear joint dynamics formulation is provided. ...
To assess the performance of the estimators, a 12.6 × 12.6 m square trajectory was required to be tracked in 60 sec. with constant velocity by the endpoint of a two-link flexible joint space robot for ...
doi:10.1109/acc.2011.5990848
fatcat:5iqf37xzgbfojn7psq2yeyccca
Inversion-based nonlinear control of robot arms with flexible links
1993
Journal of Guidance Control and Dynamics
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The design of inversion-based nonlinear control laws solving the problem of accurate trajectory tracking for robot arms having flexible links is considered. ...
The resulting control is composed of a nonlinear state feedback compensation term and of a linear feedback stabilization term. A feedforward strategy for the nonlinear part is also investigated. ...
The design of inversion-based nonlinear control laws solving the problem of accurate trajectory tracking for robot arms having flexible links is considered. ...
doi:10.2514/3.21142
fatcat:b3dgtlucjnaghhapkkefv67xau
Backstepping Control Design of a Single-Link Flexible Robotic Manipulator
2008
IFAC Proceedings Volumes
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In this paper, the backstepping design scheme is developed for the tip-position trajectory tracking control of single-link flexible robotic manipulator systems. ...
For simplicity, a linearized system model would be analyzed and investigated for our tracking control design with elimination of tip vibration. ...
The design of flexible link robotic manipulator is primarily motivated by the need for lightweight robot systems. ...
doi:10.3182/20080706-5-kr-1001.01994
fatcat:xvuusvj5izg6pe2o7u7d4m7nui
Splecial Issue on Active Control-Leading Application of Control Theory. Control and Control Theory for Flexible Robots
1993
Journal of The Society of Instrument and Control Engineers
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As the requirements for robot performance increase, ...
He also presents trajectory planning and trajectory tracking strategies for the control of flexible robot arms. This paper begins with a short discussion of modelling the behavior of a flexible beam. ...
Desoyer, Kopacek, Lugner and Troch24) compare various modelling methods for lightweight robots and discuss the effects of flexibility on possible control strategies. ...
doi:10.11499/sicejl1962.32.4_309
fatcat:rjxfrc4x3fbqxaialjjdeq2exe
Passive Friction Compensation Using a Nonlinear Disturbance Observer for Flexible Joint Robots with Joint Torque Measurements
2019
Journal of Computer Science and Cybernetics
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In this paper we introduce a simple, effective, and practical method to compensate for joint friction of flexible joint robots with joint torque sensing, which is based on a nonlinear disturbance observer ...
for flexible joint robots. ...
A global asymptotic tracking is achieved for the complete controlled robot system. One of the most effective methods for friction compensation is a disturbance observer, e.g., [18, 19, 20, 21] . ...
doi:10.15625/1813-9663/35/1/13147
fatcat:tglbc6sn25cwtlc62osr5xcrmu
Flexible Robots
[chapter]
2013
Encyclopedia of Systems and Control
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Control design for robots with flexible joints takes advantage of the passivity and feedback linearization properties. ...
In robots with flexible links, basic differences arise when controlling the motion at the joint level or at the tip level. ...
Control of Tip-Level Motion The design of a control law that allows asymptotic tracking of a desired trajectory for the end effector of a robot with flexible links needs to face the unstable zero dynamics ...
doi:10.1007/978-1-4471-5102-9_176-1
fatcat:ppeb2jaudnhdriipyqimu74lwe
Flexible Robots
[chapter]
2015
Encyclopedia of Systems and Control
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Control design for robots with flexible joints takes advantage of the passivity and feedback linearization properties. ...
In robots with flexible links, basic differences arise when controlling the motion at the joint level or at the tip level. ...
] Nonlinear Zero Dynamics PID Control Regulation and Tracking of Nonlinear Systems ...
doi:10.1007/978-1-4471-5058-9_176
fatcat:mvhkmmvimnahzdjn373dtjqxfi
Review on Modeling and Control of Flexible Link Manipulators
2020
Modeling, Identification and Control
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A survey of the reported studies is carried out based on the method used for modeling link flexibility and obtaining equations of motion of the FLMs. ...
This paper presents a review of dynamic modeling techniques and various control schemes to control flexible link manipulators (FLMs) that were studied in recent literature. ...
Suarez et al. (2018) used AMM to model a flexible link in a long-reach manipulator with a lightweight dual-arm. ...
doi:10.4173/mic.2020.3.2
fatcat:jscokhufqjbo7f5gaclkbykgra
Optimal Controller With Backstepping And Belbic For Single-Link Flexible Manipulator
2011
Zenodo
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In this paper, backstepping method (BM) is proposed for a single-link flexible mechanical manipulator. In each step of this method a positive value is obtained. ...
Selections of the gain factor values are very important because controller will have different behavior for each different set of values. ...
Furthermore, a strain gauge based controller for single-link flexible arms in very lightweight robots is designed that is robust for maximum payload [11] . ...
doi:10.5281/zenodo.1086238
fatcat:u2afrl4rdver3dkrci2r37e354
Trajectory Tracking in Flexible Robot Arms
[chapter]
1992
Systems, Models and Feedback: Theory and Applications
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We consider the problem of controlling the end-effector motion of flexible robot arms. ...
This bars the straight application of inversion control solving the trajectory tracking problem in robots with rigid links. ...
However, it should be emphasized that the end-effector trajectory tracking in a flexible robot arm can be viewed as a prototype control problem for the larger class of nonlinear systems with unstable zero ...
doi:10.1007/978-1-4757-2204-8_2
fatcat:425qagknjfbftnylqdxhetng6m
Coordinated Control of Space Robot Teams for the On-Orbit Construction of Large Flexible Space Structures
2010
Advanced Robotics
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The space structures are flexible and there are significant dynamic interactions between the robots and the structures. ...
Teams of autonomous space robots are needed for future space missions such as the construction of large solar power stations and large space telescopes in earth orbit. ...
For this work a control method called Base Sensor Control (BSC) provides precise estimates for nonlinear thruster behavior and the joint torques [11] [12] .
III. ...
doi:10.1163/016918609x12619993300665
fatcat:s6cyqrnp7ndnrowm5oq7fp5fca
Catching flying balls and preparing coffee: Humanoid Rollin'Justin performs dynamic and sensitive tasks
2011
2011 IEEE International Conference on Robotics and Automation
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The mobile humanoid Rollin'Justin is a versatile experimental platform for research in manipulation tasks. ...
Previously, different state of the art control methods and first autonomous task execution scenarios have been demonstrated. ...
As far as they result from the joint design they are compensated using a flexible joint model in the control loop. This reduces the robot's tracking error -comparable to very stiff industrial robots. ...
doi:10.1109/icra.2011.5980073
dblp:conf/icra/BaumlSWBDFFFBGEH11
fatcat:4zihjodpuzfmbj5rked56tzhfm
A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators
1988
The international journal of robotics research
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The full order flexible dynamic system does not allow the determination of a tracking control as for rigid ma~ipulators, since there are not as many control inputs as output variables. ...
The control of lightweight flexible manipulators moving along predefined paths is the focus of this work. ...
Acknowledgements Bruno Siciliano wishes to acknowledge the support of this work by the NATO Science Programme (Special Programme on Sensory Systems for Robotic Control) and the Computer Integrated M~nufacturing ...
doi:10.1177/027836498800700404
fatcat:ljzhwvqiebh3vmhwdbvur3hbre
Constrained Motion Control of Flexible Robot Manipulators Based on Recurrent Neural Networks
2004
IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)
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Index Terms-Constrained motion, flexible robot manipulators, hybrid position/force control, recurrent neural network. ...
In this paper, a neural network approach is presented for the motion control of constrained flexible manipulators, where both the contact force exerted by the flexible manipulator and the position of the ...
However, unlike rigid robot arms, control interaction in flexible robot arms creates a severe stability problem, because of their high nonlinearity and high dimensionality. ...
doi:10.1109/tsmcb.2004.826400
pmid:15484923
fatcat:hia2gcjfq5ebhfzfc4pgolkko4
Multiobjective control of a four-link flexible manipulator: a robust H/sub ∞/ approach
2002
IEEE Transactions on Control Systems Technology
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This paper presents a new approach to robust control of a real multilink flexible manipulator via regional pole assignment. ...
The purpose of this problem is to design a state feedback controller such that, for all admissible parameter uncertainties, the closed-loop system simultaneously satisfies both the prespecified norm constraint ...
Prätzel-Wolters, University of Kaiserslautern, Germany, for useful suggestions. ...
doi:10.1109/tcst.2002.804132
fatcat:gpwiqh4gjjclnadebw5pmfbva4
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