Title:
Tracking Control of Nonminimum-Phase Flexible Manipulation

dc.contributor.author Kwon, Dong-Soo
dc.contributor.author Book, Wayne J.
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.date.accessioned 2011-06-15T20:29:51Z
dc.date.available 2011-06-15T20:29:51Z
dc.date.issued 1991
dc.description DSC-Vol. 31, Modeling and Control of Compliant and Rigid Motion Systems, ASME 1991. en_US
dc.description.abstract Perfect tracking or asymptotic tracking of the tip position of a flexible manipulator, which is a typical nonminimum-phase system, has been very difficult because of the positive zeros of the nonminimum-phase system and the lack of desired trajectories of flexible coordinates. This paper presents a tracking control scheme combined with the inverse dynamic feedforward control. The inverse dynamic method calculates the feedforward torque that cancels poles and zeros of the nonminimum-phase system. It also generates the desired flexible coordinate values, which match equivalent to the tip position trajectory dynamically. The feedback loop achieves tracking capability with the calculated desired flexible coordinate trajectories. The control scheme has been applied to the tip position control of a single-link flexible manipulator for zero and non-zero initial condition cases. The non-zero initial conditions of the system states are divided into three components of rigid body, causal and anticausal parts. The rigid body component is used for the desired tip trajectory planning and the other components of these are used separately for the calculation of the feedforward torque of causal and anticausal parts. Through simulation and experiment, we explore the effectiveness and limitations of this method for moving non-zero initial condition cases. en_US
dc.identifier.citation Kwon, Dong-Soo and W.J. Book, "Tracking Control of Nonminimum-Phase Flexible Manipulation", published in Modeling and Control of Compliant and Rigid Motion Systems, W. Book and F. Paul, ed., ASME DSC-Vol. 31, pp. 27-38, December 1991. en_US
dc.identifier.uri http://hdl.handle.net/1853/39140
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original American Society of Mechanical Engineers
dc.subject Flexible manipulators en_US
dc.subject Tracking control en_US
dc.subject Feedback loop en_US
dc.title Tracking Control of Nonminimum-Phase Flexible Manipulation en_US
dc.type Text
dc.type.genre Proceedings
dspace.entity.type Publication
local.contributor.author Book, Wayne J.
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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