Modeling and control of a multi degree of freedom flexible joint manipulator
—The paper describes the model of a two flexible joint manipulator and the development of a nonlinear passivity based control method for that model. For dynamic modeling, the Euler-Language approach is selected to model flexible joint manipulator. Since lightweight materials are employed in...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5392/ http://irep.iium.edu.my/5392/ http://irep.iium.edu.my/5392/ http://irep.iium.edu.my/5392/1/ICCEE2009.pdf |
| Summary: | —The paper describes the model of a two flexible joint
manipulator and the development of a nonlinear passivity
based control method for that model. For dynamic modeling,
the Euler-Language approach is selected to model flexible joint
manipulator. Since lightweight materials are employed in the
construction of manipulator, the assumption that negligible
link deformation no longer applies. A nonlinear passivitybased control method for rigid flexible joint as well as flexible
link is proposed here. The main idea of Passivity Based
Controller (PBC) is to use energy state of a system to provide
stabilization. The PBC is developed to achieve two goals: set
point regulation and trajectory tracking. The controller brings
the end point from unstable position to a certain stable
position. Beside that, the controller are developed to control
the position of there end-point in such a way that it tracks the
desired trajectory which are tested by simulations. |
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