Title:
Application of Singular Perturbation Theory to the Control of Flexible Link Manipulators
Application of Singular Perturbation Theory to the Control of Flexible Link Manipulators
Author(s)
Siciliano, Bruno
Book, Wayne J.
Book, Wayne J.
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Abstract
The control problem for robotic manipulators with flexible links is
considered in this paper. The dynamic equations of motion can be derived by
means of a recently developed Lagrangian-assumed modes method. In the case of
flexibility at links it has been shown that there is no analogue of the well
established computed torque method widely adopted for rigid arm control. Under
the assumption that the flexible dynamics is faster than the rigid dynamics,
singular perturbation theory provides an engineering tool for reduced order
modeling. The resulting slow subsystem allows the determination of a tracking
control as for rigid manipulators, since the number of control variables
equals that of control led variables. For the fast subsystem an additive
control is in charge of stabilizing the deflections along the joint angle
trajectory. The result is a composite control strategy which combines the
advantages of rigidity ("controllability") with those of flexibility
("lightweight compliant structures").
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Date Issued
1986
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Text
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Article