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Dynamic Modeling Based on Real-Time Deflection Measurement and Compensation Control for Flexible Multi-Link Manipulators

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Dynamics and Control

Abstract

The problem of tip trajectory tracking control is considered in this paper for flexible multi-link manipulators. An integrated optical laser sensor system is utilized to measure the tip deformations of the flexible links. The Lagrangian assumed-mode method incorporating the measured linear displacements and angular deflections of flexible links is used to derive the dynamic model of the flexible manipulator. To reduce as far as possible the tip tracking/positioning errors caused by the link flexibility, an error compensation approach is proposed. The additional compensation amounts of joint variables are calculated kinematically in terms of the measured deformations, and are added to the nominal commands generated by the computed torque controller. The simulation results demonstrate the effectiveness of the proposed approach.

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Authors and Affiliations

  1. Department of Computer Science, Tsinghua University, Beijing, 100084, P. R. China

    T. W. Yang

  2. Institute of Technology and Engineering, College of Sciences, Massey University, New Zealand

    W. L. Xu

  3. Center for Intelligent Design, Automation and Manufacturing (CIDAM), City University of Hong Kong, Hong Kong

    S. K. Tso

Authors
  1. T. W. Yang
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  2. W. L. Xu
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  3. S. K. Tso
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Yang, T.W., Xu, W.L. & Tso, S.K. Dynamic Modeling Based on Real-Time Deflection Measurement and Compensation Control for Flexible Multi-Link Manipulators. Dynamics and Control 11, 5–24 (2001). https://doi.org/10.1023/A:1017954615442

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