Abstract
In this work, we propose a new control approach for a single-link flexible manipulator, based on the Integral Resonant Control (IRC) scheme. A hybrid control scheme consisting of two nested loops by treating the joint angle and the torque measured at the base of the arm (coupling torque) as the system outputs are formulated. It is shown that the IRC scheme, a high performance controller design methodology for flexible structures with collocated actuator-sensor pairs, can be implemented in a flexible manipulator to achieve precise end-point positioning with effective vibration suppression. Experimental results are presented in order to validate the proposed control scheme. Finally, a brief discussion is included to highlight the contributions of this work in broad area of controlling single-link flexible manipulators.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
