NDLI: A Novel Approach for Robust Control of Single-Link Manipulators with Visco-Elastic Behavior

Content Provider	IEEE Xplore Digital Library
Author	Torabi, Meysam Jahed, Mehran
Copyright Year	2008
Abstract	Overwhelming number of control laws has been studied for control of robot manipulators with rigid links and joints. However, controllers designed under this assumption may not accurately control the manipulator link due to visco-elastic properties that appear in the link behavior. In this study, a novel approach for robust control of a single-link manipulator is presented to force the link to have rigid motions, while it has visco-elastic behavior. In this regard, initially robot dynamics is extracted, followed by the design of four appropriate controllers through the loop-shaping approach. The obtained model is first represented in state space, however later converted to transfer function representation to attain robot characteristic equation. Next, a simple and effective method is applied to reduce the order of the robot manipulator model. The final model is examined in time and frequency domains to show the validation of the order reduction method. In order to locate proper zeros and poles of the controllers, Bode plot is used to change the magnitude curve of the manipulator response as desired. The four special controllers are planned for each of four zones of the frequency response. The results show improvements in five major aspects of the behavior of the manipulator, namely transient response, steady state response, robust stability, command following and noise rejection.
Starting Page	685
Ending Page	690
File Size	413330
Page Count	6
File Format	PDF
ISBN	0769531148
DOI	10.1109/UKSIM.2008.70
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-04-01
Publisher Place	UK
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Transfer functions State-space methods Equations Frequency domain analysis noise rejection Orbital robotics Robust control feedback system rigid motions robust control Frequency response Manipulator dynamics Poles and zeros Visco-elastic single-link manipulator
Content Type	Text
Resource Type	Article

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