NDLI: Control of a flexible manipulator tip using a multirate repetitive learning controller based on filtered tip reference input

Content Provider	IEEE Xplore Digital Library
Author	Sungsoo Rhim Ai-Ping Hu
Copyright Year	2003
Description	Author affiliation: CAMotion, Inc., Atlanta, GA, USA (Sungsoo Rhim; Ai-Ping Hu)
Abstract	The non-minimum phase dynamic characteristic of a flexible manipulator makes tracking control of its tip difficult. With the actuator located at the manipulator joint, tip tracking control results in a non-collocated control problem. The level of tip tracking performance is dependent on the characteristics of the tip reference trajectory, as well as on the characteristics of the flexible manipulator system. The current paper addresses the question of how to best specify a reference trajectory for the tip of a flexible manipulator to follow in order to achieve the objectives of reducing: tip tracking error, residual tip vibration, and the required actuation effort at the manipulator joint. Using a tip controller based on multirate repetitive learning control (MRLC), a command shaping filter is used to reshape the reference trajectory. For a typical trajectory, the MRLC-based tip controller has been shown to be capable of significantly reduction tip vibrations and requiring an accompanying larger actuation effort. A tip reference trajectory reshaped by a properly designed command shaping filter smoothes the trajectory's acceleration profile and avoids excitation of the system resonance. Numerical simulations demonstrate that the result is a drastic reduction in residual tip vibrations and the required actuation effort of the MRLC-based tip controller.
Sponsorship	American Automatic Control Council IFAC
Starting Page	4805
Ending Page	4810
File Size	441754
Page Count	6
File Format	PDF
ISBN	0780378962
ISSN	07431619
DOI	10.1109/ACC.2003.1242483
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-06-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Manipulator dynamics Shape control Vibration control Actuators Filters Acceleration Tracking Motion control Electronic mail
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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