NDLI: Observer based quasi-static deformation compensation control for three-link rigid-flexible manipulator

Content Provider	IEEE Xplore Digital Library
Author	Jie Liu Bo Zhao Yuanchun Li
Copyright Year	2013
Description	Author affiliation: Dept. of Control Sci. & Eng., Jilin Univ., Changchun, China (Jie Liu; Bo Zhao; Yuanchun Li)
Abstract	In this paper, a new method of observer based quasi-static deformation compensation control is proposed to track the end position trajectory for a three-link rigid-flexible manipulator with a large payload. Firstly, an observer is developed based on the model of the three-link rigid-flexible manipulator to estimate the vibratory modals and their time derivatives, which are practically impossible to measure. Meanwhile, the vibration can be suppressed by feedbacking the estimated values to the controller. Secondly, a sliding control scheme is put forward to track the end position trajectory. Thirdly, the quasi-static deformation compensation algorithm by compensating the desired joint angles is come up with considering the deformation of the flexible manipulator. The end position trajectory will be tracked precisely when the vibration is suppressed and the desired joint angles are compensated. Finally, simulation results demonstrate the effectiveness of the proposed method.
Starting Page	886
Ending Page	891
File Size	687235
Page Count	6
File Format	PDF
ISBN	9781479913343
DOI	10.1109/ICInfA.2013.6720419
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vibrations Quasi-static deformation compensation Observer Observers Vibration suppression Trajectory Joints Manipulator dynamics Sliding mode control Payloads Three-link rigid-flexible manipulator
Content Type	Text
Resource Type	Article

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