NDLI: Exact and stable tip trajectory tracking for multi-link flexible manipulator

Content Provider	IEEE Xplore Digital Library
Author	Hongchao Zhao Degang Chen
Copyright Year	1993
Description	Author affiliation: Dept. of Electr. Eng. & Comput. Eng., Iowa State Univ., Ames, IA, USA (Hongchao Zhao; Degang Chen)
Abstract	In this paper, the recently developed stable inversion theory for nonlinear nonminimum phase systems is applied to output tracking for multi-link flexible robot manipulators. First, a mathematical model is developed for a two-link flexible manipulator using assumed mode technique with tip position as output. Then an inverse model is derived and a two-point boundary value problem is set up to guarantee that the inverse obtained is a stable one regardless of the fact that a flexible manipulator is a nonminimum phase system. The eigenvalues of the Jacobian matrix of the inverse system are calculated to verify the hyperbolicity of the fixed point. Following a recent general result, an iterative procedure is presented to numerically construct the stable inverse for a given desired tip trajectory. This inverse is used as a feedforward together with joint angle feedback to control the tip position. Excellent output tracking is achieved with no transient or steady state errors and no internal vibration buildup.<>
Starting Page	1371
Ending Page	1376
File Size	498165
Page Count	6
File Format	PDF
ISBN	0780312988
DOI	10.1109/CDC.1993.325413
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-12-15
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Manipulators Robots Mathematical model Inverse problems Boundary value problems Eigenvalues and eigenfunctions Jacobian matrices Feedback Steady-state
Content Type	Text
Resource Type	Article

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