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Robust Control of Collaborative Manipulators - Flexible Object System : Controllo robusto di robot multipli mediante il sistema di oggetto flessibile, in: International Journal of Advanced Robotic Systems |
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General information |
| Author |
Esakki, Balasubramanian; Bhat, Rama B.; Su, Chun-Yi |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
In many manufacturing and automobile
industries, flexible components need to be positioned
with the help of coordinated operations of manipulators.
This paper deals with the robust design of a control
system for two planar rigid manipulators moving a
flexible object in the prescribed trajectory while
suppressing the vibration of the flexible object. Dynamic
equations of the flexible object are derived using the
Hamiltonian principle, which is expressed as a partial
differential equation (PDE) with appropriate boundary
conditions. Then, a combined dynamics is formulated by
combining the manipulators and object dynamics without
any approximation. The resulting dynamics are thus
described by the PDEs, having rigid as well as flexible
parameters coupled together. This paper attempts to
develop a robust control scheme without approximating
the PDE in order to avoid measurements of flexible
coordinates and their time derivatives. For this purpose,
the two subsystems, namely slow and fast subsystems,
are identified by using the singular perturbation
technique. Specific robust controllers for both the
subsystems are developed. In general, usage of the
singular perturbation technique necessitates exponential
stability of both subsystems, which is evaluated by
satisfying Tikhnov’s theorem. Hence, the exponential
stability analysis is performed for both subsystems.
Focusing on two three‐link manipulators holding a
flexible beam, simulations are performed and simulation
results demonstrate the versatility of the proposed robust
composite control scheme. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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