Abstract
This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with well-established stability properties while an LQR optimal design is adopted for the flexible dynamics. Experimental results show that this composite approach achieves good closed loop tracking properties both for the rigid and the flexible dynamics.
Highlights
Flexible-link robotic manipulators have many advantages with respect to conventional rigid robots
If the tip position is chosen as the system output, flexible links arms are non-minimum phase systems (Wang, D. & Vidyasagar, M. 1991, Moallem, M; Patel, R.V. & Khorasani, K. 2001), which implies that the conventional robot control methods based on feedback linearization cannot be applied to flexible manipulators
Since the slow subsystem has the same structure and properties than the equivalent rigid arm, the slow control can be based on well-established control schemes for rigid manipulators, while the fast control can be synthesized as a linear control with the slow state variables acting as parameters
Summary
Flexible-link robotic manipulators have many advantages with respect to conventional rigid robots. Since the slow subsystem has the same structure and properties than the equivalent rigid arm, the slow control can be based on well-established control schemes for rigid manipulators, while the fast control can be synthesized as a linear control with the slow state variables acting as parameters This combined slow-fast strategy has proved to be a promising control method for robotic applications A sliding-mode controller is designed for the slow subsystem and an optimal LQR strategy is proposed for the fast subsystem. This kind of sliding control scheme was introduced in
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