Control of a flexible manipulator with noncollocated feedback: time-domain passivity approach

A new method to control a flexible manipulator with noncollocated feedback is proposed. We introduce a method to implement the time-domain passivity-control approach to a flexible manipulator with noncollocated feedback, which could not be treated with the previous time-domain passivity-control fram...

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Vydáno v:IEEE transactions on robotics Ročník 20; číslo 4; s. 776 - 780
Hlavní autoři: Jee-Hwan Ryu, Dong-Soo Kwon, Hannaford, B.
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York, NY IEEE 01.08.2004
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Active control
Actuators
Aerospace industry
Applied sciences
Computer science; control theory; systems
Control systems
Control theory
Control theory. Systems
Cursor control devices
Delay
Exact sciences and technology
Feedback
Flexible manipulators
Manipulators
Miscellaneous
Modelling and identification
Orbital robotics
Output feedback
Passivity
Robots
Service robots
Simulation
Time domain analysis
Torque
Transfer functions
Compliant mechanism
Feedback regulation
Controller
Transfer function
Passivity
Observer
ISSN:1552-3098, 1941-0468
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Shrnutí:A new method to control a flexible manipulator with noncollocated feedback is proposed. We introduce a method to implement the time-domain passivity-control approach to a flexible manipulator with noncollocated feedback, which could not be treated with the previous time-domain passivity-control framework due to a possible active transfer function from the input to the noncollocated output. The proposed method is simulated with a single-link flexible manipulator, and a good control performance is obtained.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2004.829454