AN INTEGRAL MANIFOLD APPROACH FOR TIP-POSITION TRACKING OF FLEXIBLE MULTILINK MANIPULATORS

Citation
M. Moallem et al., AN INTEGRAL MANIFOLD APPROACH FOR TIP-POSITION TRACKING OF FLEXIBLE MULTILINK MANIPULATORS, IEEE transactions on robotics and automation, 13(6), 1997, pp. 823-837
Citations number
30
ISSN journal
1042296X
Volume
13
Issue
6
Year of publication
1997
Pages
823 - 837
Database
ISI
SICI code
1042-296X(1997)13:6<823:AIMAFT>2.0.ZU;2-G
Abstract
In this paper, a nonlinear control strategy for tip position trajector y tracking of a class of Structurally flexible multi-link manipulators is developed. Using the concept of integral manifolds and singular pe rturbation theory, the full-order flexible system is decomposed into c orrected slow and fast subsystems. The tip-position vector is similarl y partitioned into corrected slow and fast outputs. To ensure an asymp totic tracking capability, the corrected slow subsystem is augmented b y a dynamical controller in such a way that the resulting closed-loop zero dynamics are linear and asymptotically stable. The tracking probl em is then redefined as tracking the slow output and stabilizing the c orrected fast subsystem by using dynamic output feedback. Consequently , it is possible to show that the tip position tracking errors converg e to a residual set of O(epsilon(2)), where epsilon is the singular pe rturbation parameter. A major advantage of the proposed strategy is th at the only measurements required are the tip positions, joint positio ns, and joint velocities. Experimental results for a single-link arm a re also presented and compared with the case when the slow control is designed based on the rigid-body model of the manipulator.