Precise tip positioning of a flexible manipulator using resonant control

被引：49
|
作者：
Mahmood, Iskandar A. [1 ]
Moheimani, S. O. Reza [1 ]
Bhikkaji, Bharath [1 ]
机构：
[1] Univ Newcastle, Sch Elect Engn & Comp Sci, Callaghan, NSW 2308, Australia
来源：
IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2008年 / 13卷 / 02期
基金：
澳大利亚研究理事会;
关键词：
flexible manipulator; integral controller; resonant; controller; tip positioning;
D O I：
10.1109/TMECH.2008.918494
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This flexible manipulator is modeled as an SIMO system with the motor torque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using a frequency-domain system identification method, and the resonant modes are determined. A feedback loop around the hub angle response with a resonant controller is designed to damp the resonant modes. A high-gain integral controller is also implemented to achieve zero steady-state error in the tip position response. Experiments are performed to demonstrate the effectiveness of the proposed control scheme.
引用
收藏
页码：180 / 186
页数：7
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