Adaptive nonlinear control for end-effector position tracking of multi-link flexible manipulators with embedded active materials

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

It is well known that the dynamics of multi-link flexible arm from the joint actuators to the tip position are non-minimum phase. Therefore, many available adaptive nonlinear control techniques are not applicable to flexible manipulators. In this paper, utilization of extra actuation along the flexible links is considered. Addition of piezoceramic sensors and actuators at proper locations of the arm will yield a minimum phase system. This will allow application of nonlinear feedback methodologies available in the literature. In this paper, experimental results on vibration suppression and end-effector position tracking for a flexible manipulator with embedded piezoceramics are presented. Experimental setups have been developed at Control/Robotics Research Laboratory (CRRL) to study modeling issues and control design approaches for flexible structures with embedded (or surface-mounted) piezoceramics. Specifically, a two-link manipulator with a flexible forearm is considered in this paper.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherIEEE
Pages103-108
Number of pages6
Volume1
StatePublished - 1994
EventProceedings of the 33rd IEEE Conference on Decision and Control. Part 1 (of 4) - Lake Buena Vista, FL, USA
Duration: Dec 14 1994Dec 16 1994

Other

OtherProceedings of the 33rd IEEE Conference on Decision and Control. Part 1 (of 4)
CityLake Buena Vista, FL, USA
Period12/14/9412/16/94

Fingerprint

Flexible manipulators
End effectors
Telecommunication links
Actuators
Nonlinear feedback
Flexible structures
Research laboratories
Manipulators
Robotics
Sensors

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Khorrami, F. (1994). Adaptive nonlinear control for end-effector position tracking of multi-link flexible manipulators with embedded active materials. In Proceedings of the IEEE Conference on Decision and Control (Vol. 1, pp. 103-108). IEEE.

Adaptive nonlinear control for end-effector position tracking of multi-link flexible manipulators with embedded active materials. / Khorrami, Farshad.

Proceedings of the IEEE Conference on Decision and Control. Vol. 1 IEEE, 1994. p. 103-108.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Khorrami, F 1994, Adaptive nonlinear control for end-effector position tracking of multi-link flexible manipulators with embedded active materials. in Proceedings of the IEEE Conference on Decision and Control. vol. 1, IEEE, pp. 103-108, Proceedings of the 33rd IEEE Conference on Decision and Control. Part 1 (of 4), Lake Buena Vista, FL, USA, 12/14/94.
Khorrami F. Adaptive nonlinear control for end-effector position tracking of multi-link flexible manipulators with embedded active materials. In Proceedings of the IEEE Conference on Decision and Control. Vol. 1. IEEE. 1994. p. 103-108
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