Organizational Unit:
Institute for Robotics and Intelligent Machines (IRIM)
Institute for Robotics and Intelligent Machines (IRIM)
Permanent Link
Research Organization Registry ID
Description
Previous Names
Parent Organization
Parent Organization
Includes Organization(s)
Organizational Unit
Organizational Unit
ArchiveSpace Name Record
Publication Search Results
Now showing
1 - 6 of 6
-
ItemDirect Adaptive Control of a One-Link Flexible Arm with Tracking(Georgia Institute of Technology, 1989) Yuan, Bau-San ; Book, Wayne J. ; Siciliano, BrunoA robust tracking controller for a one-link flexible arm based on a model reference adaptive control approach is proposed. In order to satisfy the model matching conditions, the reference model is chosen to be the optimally controlled linearized model of the system. The resulting controller overcomes the fundamental limitation in previously published research on direct adaptive control of flexible robots that required additional actuators solely to control the flexible degrees of freedom. The nominal trajectory is commanded by means of a tracking control. Simulation results for the prototype in the laboratory show improvements obtained with the outer adaptive feedback loop compared to a pure optimal regulator control. Robustness is tested by varying the payload mass.
-
ItemSymbolic Modeling and Dynamic Simulation of Robotic Manipulators with Compliant Links and Joints(Georgia Institute of Technology, 1989) Cetinkunt, Sabri ; Book, Wayne J.The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on a Lagrangian-assumed mode of formulation. This form of dynamic model is suitable for controller synthesis, as well as accurate simulations of robotic applications. The final form of the equations is organized in a form similar to rigid manipulator equations. This allows one to identify the differences between rigid and flexible manipulator dynamics explicitly. Therefore, current knowledge on control of rigid manipulators is likely to be utilized in a maximum way in developing new control algorithms for flexible manipulators. Computer automated symbolic expansion of the dynamic model equations for any desired manipulator is accomplished with programs written based on commercial symbolic manipulation programs (SMP, MACSYMA, REDUCE). A two-link manipulator is used as an example. Computational complexity involved in real-time control, using the explicit, non-recursive form of equations, is studied on single CPU and multi-CPU parallel computation processors.
-
ItemExperiments in augmenting active control of a flexible structure with passive damping(Georgia Institute of Technology, 1986-01) Alberts, Thomas Edward ; Book, Wayne J. ; Dickerson, Stephen L.Control ling the motion of large flexible structures through purely active measures can become cumbersome in terms of hardware and computation time requirements. Moreover, for any practical implementation, the need to limit the order of the system model and controller may lead to problems associated with spill over and modeling uncertainty. In many cases it is possible to augment active controllers using passive vibration control measures thereby relaxing the burden of active control. In this paper we discuss the results of an experimental investigation of using this highly practical scheme. The experimental system under consideration is a flexible arm that rotates in the horizontal plane when driven at its pinned end by a DC torque motor. Passive dampening is s provided by a constrained viscoelastic layer damping treatment. Experiments were performed to demonstrate the stabilizing effect of the damping treatment on a system using modal feedback and one using only colocated control. A root locus analysis of the colocated system substantiates the experimental results.
-
ItemExperiments in the Control of a Flexible Robot Arm(Georgia Institute of Technology, 1985-06) Hastings, Gordon Greene ; Book, Wayne J.Control of flexible manipulator arms offers high performance, light weight, and low cost over conventional rigid members. Presented is an experimental system for evaluating control systems. A dynamic modeling procedure is outlined and an optimal control system is discussed. Reconstruction of flexible modes is accomplished using strain gage data. Velocity of flexible modes is estimated with a reduced order observer. Experimental data is presented to verify dynamic modeling and modal reconstruction. Initial results using a deterministic optimal controller are presented.
-
ItemModeling and Control of Flexible Manipulators(Georgia Institute of Technology, 1985-06) Alberts, Thomas Edward ; Dickerson, Stephen L. ; Book, Wayne J.Methods to control manipulators with flexible structural members are presently sought by investigators to allow the design of lightweight, high-performance robotic manipulators. A survey of developments to date and an overview of current research activity in this area at Georgia Institute of Technology is presented. A straight forward method of modeling a simple single-link arm is included as an example. A scheme by which the first modes of vibration are actively controlled while higher modes are controlled/passively using a constrained viscoelastic layer treatment is described.
-
ItemRecursive Lagrangian Dynamics of Flexible Manipulators(Georgia Institute of Technology, 1984-09) Book, Wayne J.Nonlinear equations of motion are developed for flexible manipulator arms consisting of rotary joints that connect pairs of flexible links. Kinematics of both the rotary-joint mo tion and the link deformation are described by 4 X 4 trans formation matrices. The link deflection is assumed small so that the link transformation can be composed of summations of assumed link shapes. The resulting equations are pre sented as scalar and 4 X 4 matrix operations ready for pro gramming. The efficiency of this formulation is compared to rigid-link cases reported in the literature.