Partial feedback linearization control of a single flexible link robot manipulator

Abstract

In this study, a control approach based on a partial feedback linearization is developed for the tracking of stationary and moving targets with robotic structures. To address the high speed, high accuracy requirements of lightweight robotic systems for such applications, the control of a single link flexible arm is taken into consideration. Flexible link robot manipulators are classified among underactuated systems due to their structural flexibilities and resulting high number of passive degrees-of-freedom. Underactuated systems cannot be decoupled due to the highly nonlinear structure and exact feedback linearization control methods cannot be applied to these systems. Therefore partial feedback linearization control methods are suitable to the entire class of underactuated systems. In this study, classical PD based collocated Partial Feedback Linearization is applied for positioning and tracking control. For set point control, collocated and non-collocated control algorithms are applied consecutively using switching action to improve the position precision as demonstrated by simulations. The proposed control strategy has proven to be effective for the control of a single flexible link arm and therefore, could meet the control requirement of high speed, lightweight structures used in space. Numerical simulations of a single flexible link robot manipulator successfully demonstrate the effectiveness of the proposed method.