A two-level hierarchical control strategy to achieve accurate end-point position of a planar two-link flexible manipulator is proposed. The upper level consists of a feedforward rule-based supervisory controller that incorporates fuzzy logic, whereas the lower level consists of conventional controllers that combine shaft position-endpoint acceleration feedback for disturbance rejection properties and shaping of the (joint) actuator inputs to minimize the energy transferred to the flexible modes during commanded movements. The effectiveness of this hierarchical control strategy is verified by experimental results for various movements of the links, in various configurations.<>


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    Title :

    A fuzzy supervisor for flexible manipulator control


    Contributors:


    Publication date :

    1991-01-01


    Size :

    536027 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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