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Adaptive Interaction Control of a Very Flexible Parallel Robot Manipulator

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Informatics in Control, Automation and Robotics (ICINCO 2019)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 720))

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Abstract

Robot manipulators have many applications and their tasks become complicated when they have interaction with their environments and humans. These complicated tasks need complex controllers. Also, the controller’s complexity will be increased when the used robot manipulators are very flexible. The robot in this work is very flexible while its first mode shape frequency is 1.85 Hz and its oscillation amplitude is more than \(10\%\) of its long link length. Hence, this flexibility must be taken into account in the modeling and controlling process. Another challenge appears when this very flexible robot manipulator interacts with an unknown environment. In this work, an adaptive impedance control for the very flexible robot manipulator is designed and implemented. To investigate the controller, a numerical simulation in Matlab is utilized. The results show that the robot using the adaptive controller can interact with different surfaces with high performance.

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Acknowledgements

This research was performed within the Cluster of Excellence in Simulation Technology SimTech at the University of Stuttgart and is partially funded by the Landesgraduiertenkolleg Baden-WĂĽrttemberg.

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Authors and Affiliations

  1. Institute of Engineering and Computational Mechanics, University of Stuttgart, Pfaffenwaldring 9, 70569, Stuttgart, Germany

    Fatemeh Ansarieshlaghi & Peter Eberhard

Authors
  1. Fatemeh Ansarieshlaghi
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  2. Peter Eberhard
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Corresponding author

Correspondence to Fatemeh Ansarieshlaghi .

Editor information

Editors and Affiliations

  1. Ford Research and Advanced Engineering, Dearborn, MI, USA

    Oleg Gusikhin

  2. University of Paris-EST Créteil (UPEC), Vitry-sur-Seine, France

    Kurosh Madani

  3. University of Reims Champagne Ardennes, Vitry-sur-Seine, France

    Janan Zaytoon

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Ansarieshlaghi, F., Eberhard, P. (2021). Adaptive Interaction Control of a Very Flexible Parallel Robot Manipulator. In: Gusikhin, O., Madani, K., Zaytoon, J. (eds) Informatics in Control, Automation and Robotics. ICINCO 2019. Lecture Notes in Electrical Engineering, vol 720. Springer, Cham. https://doi.org/10.1007/978-3-030-63193-2_8

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