Modeling and Control of a Multi Degree of Freedom Flexible Joint Manipulator

M. Akhtaruzzaman, Rini Akmeliawati, Teh Wai Yee
{"title":"Modeling and Control of a Multi Degree of Freedom Flexible Joint Manipulator","authors":"M. Akhtaruzzaman, Rini Akmeliawati, Teh Wai Yee","doi":"10.1109/ICCEE.2009.100","DOIUrl":null,"url":null,"abstract":"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 passivity-based 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.","PeriodicalId":343870,"journal":{"name":"2009 Second International Conference on Computer and Electrical Engineering","volume":"44 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 Second International Conference on Computer and Electrical Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCEE.2009.100","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 14

Abstract

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 passivity-based 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.
多自由度柔性关节机械臂的建模与控制
本文介绍了一种双关节柔性机械臂的非线性无源控制方法。在动力学建模方面,采用欧拉语言方法对柔性关节机械臂进行建模。由于在机械臂结构中采用了轻量化材料,连杆变形可忽略的假设不再适用。提出了一种基于非线性无源的刚性柔性关节和柔性连杆控制方法。无源控制器(PBC)的主要思想是利用系统的能量状态来实现系统的稳定。PBC的发展是为了实现两个目标:设定点调节和轨迹跟踪。控制器使端点从不稳定位置移动到某个稳定位置。除此之外,还开发了控制器来控制端点的位置,使其跟踪期望的轨迹,并通过仿真进行了测试。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信