Unconstrained and Constrained Motion Control of a Planar Two-Link Structurally Flexible Robotic Manipulator
Unconstrained and constrained motion control of a planar two-link structurally-flexible robotic manipulator are considered in this study. The dynamic model is obtained by using the extended Hamilton's principle and the Galerkin criterion. A method is presented to obtain the linearized equations of motion in Cartesian space for use in designing the control system. The approach to solving the control problem is to use feedforward and feedback control torques. The feedforward torques maneuver the flexible manipulator along a nominal trajectory and the feedback torques minimize any deviations from the nominal trajectory. The feedforward and feedback torques are obtained by solving the inverse dynamics problem for the rigid manipulator and designing linear quadratic Gaussian with loop transfer recovery (LQG/LTR) compensators, respectively. The LQG/LTR design methodology is exploited to design a robust feedback control system that can handle modeling errors and sensor noise, and operate on Cartesian space trajectory errors. Computer simulated results are presented for an example planar, two-link, structurally flexible robotic manipulator.
B. O. Choi and K. Krishnamurthy, "Unconstrained and Constrained Motion Control of a Planar Two-Link Structurally Flexible Robotic Manipulator," Journal of Robotic Systems, vol. 11, no. 6, pp. 557-571, John Wiley & Sons Ltd, Sep 1994.
Mechanical and Aerospace Engineering
Keywords and Phrases
Computer simulation; Constraint theory; Control system synthesis; Equations of motion; Errors; Inverse problems; Linearization; Mathematical models; Motion control; Robotics; Robustness (control systems); Torque control; Cartesian space; Feedback control systems; Feedforward torque; Flexible robotic manipulator; Galerkin criterion; Hamiltons principle; Linear quadratic Gaussian; Loop transfer recovery; Planar two link manipulator; Trajectory errors; Manipulators
International Standard Serial Number (ISSN)
Article - Journal
© 1994 John Wiley & Sons Ltd, All rights reserved.
01 Sep 1994