Flexible-link manipulator force control

Antonios Tzes, Stephen Yurkovich

    Research output: Contribution to journalConference article

    Abstract

    The flexible-link-manipulator force control problem is considered. The force controller is separated into two parts based on the inner- /outer-loop strategy. The inner-loop controller is based on a composite strategy, where a slow feedback linearization scheme acts on the underlying rigid arm dynamics, recovered by the singular perturbation method. Subsequently, the input is convolved with a sequence of impulses in order to produce a near vibration-free output. The amplitude of the impulses is related to the modal damping, and the spacing between them on the modal frequencies. The outer-loop controller modifies its structure according to the environment impedance, and through a selection matrix assigns the force and the position control subspaces. The resulting input is colored around the modal frequencies through a notch filter, so that no energy is injected into the flexible states. A low-pass filter in cascade is used to avoid excitation of the high-frequency unmodeled dynamics.

    Original languageEnglish (US)
    Pages (from-to)194-199
    Number of pages6
    JournalProceedings of the American Control Conference
    StatePublished - May 1 1990
    EventProceedings of the 1990 American Control Conference - San Diego, CA, USA
    Duration: May 23 1990May 25 1990

    Fingerprint

    Force control
    Manipulators
    Controllers
    Notch filters
    Feedback linearization
    Low pass filters
    Position control
    Damping
    Composite materials

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Flexible-link manipulator force control. / Tzes, Antonios; Yurkovich, Stephen.

    In: Proceedings of the American Control Conference, 01.05.1990, p. 194-199.

    Research output: Contribution to journalConference article

    Tzes, Antonios ; Yurkovich, Stephen. / Flexible-link manipulator force control. In: Proceedings of the American Control Conference. 1990 ; pp. 194-199.
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