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

@article{75fdfa9782eb450b98c52d8d6617ab73,
title = "Flexible-link manipulator force control",
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.",
author = "Antonios Tzes and Stephen Yurkovich",
year = "1990",
month = "5",
day = "1",
language = "English (US)",
pages = "194--199",
journal = "Proceedings of the American Control Conference",
issn = "0743-1619",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - Flexible-link manipulator force control

AU - Tzes, Antonios

AU - Yurkovich, Stephen

PY - 1990/5/1

Y1 - 1990/5/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0025420894&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0025420894&partnerID=8YFLogxK

M3 - Conference article

SP - 194

EP - 199

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

SN - 0743-1619

ER -