Experimental results on an inner/outer loop controller for a two-link flexible manipulator

Farshad Khorrami, Sandeep Jain

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

Abstract

Experimental results for end-point positioning of multi-link flexible manipulators are considered. This control strategy has been implemented on an experimental test-bed developed at the Control/Robotics Research Laboratory at Polytechnic University. The advocated approach is based on a two-stage control design. The first stage is an inner-loop nonlinear-based controller corresponding to the rigid body motion of the manipulator. The second stage is an outer control loop based on linear output LQR design. The outer-loop control design results in a nonconvex nonlinear optimization problem. A software package has been developed to solve this problem. The outer-loop controller enhances vibration damping and robustness of the closed-loop dynamics to parameter variations. The measurement utilized for vibration suppression is through an accelerometer attached at the end point of the manipulator.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages742-747
Number of pages6
ISBN (Print)0818627204
StatePublished - Apr 1 1992
EventProceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duration: May 12 1992May 14 1992

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1

Other

OtherProceedings 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period5/12/925/14/92

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Khorrami, F., & Jain, S. (1992). Experimental results on an inner/outer loop controller for a two-link flexible manipulator. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 742-747). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). Publ by IEEE.