The control problem for flexible multilink robots carrying large payloads is revisited and a globally stable controller together with its adaptive companion is considered. Both controllers were derived on the basis of a set of nonlinear approximate equations describing the payload dominated dynamics of the robot in conjunction with the passivity property of a suitably defined modified input/output pair for the system. Their ability to combine end-point tracking with simultaneous vibration suppression is demonstrated by a set of experimental results concerning a three degree-of-freedom planar robot with two flexible links.
Experiments on the control of flexible-link manipulators carrying large payloads
Lect Notes Control Inf Sci
2008-04-30
10 pages
Article/Chapter (Book)
Electronic Resource
English