NONLINEAR CONTROL OF A SINGLE-LINK FLEXIBLE JOINT MANIPULATOR USING DIFFERENTIAL FLATNESS

被引：0
|
作者：
Didam, Markus E. [1 ]
Agee, John T. [1 ]
Jimoh, Adisa A. [1 ]
Tlale, Ngatho [2 ]
机构：
[1] Tshwane Univ Technol, Dept Elect Engn, Pretoria, South Africa
[2] Anglo Amer, Johannesburg, South Africa
来源：
2012 5TH ROBOTICS AND MECHATRONICS CONFERENCE OF SOUTH AFRICA (ROBOMECH) | 2012年
关键词：
Flexible manipulator; Differential flatness; nonlinear control; trajectory tracking;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, a nonlinear feedback controller is proposed for a single link flexible joint manipulator based on the concept of differential flatness. The control design is approached from the perspective of using input state feedback linearization via the flatness property of the robot. It is shown that the nonlinear dynamics of the manipulator satisfies the controllability and involutivity conditions required for the selection of a flat output. With the flat output, trajectories of motion are generated. A feedback controller is then designed to track the trajectories. Tracking results show the effectiveness of the proposed flatness based control scheme.
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页数：6
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