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Nonlinear Feedback Control for Flexible Robot Arms

  • Xuru Ding
  • T. J. Tarn
  • A. K. Bejczy
Part of the Progress in Systems and Control Theory book series (PSCT, volume 9)

Abstract

Modeling and control of robot arms with non-negligible elastical deformations have invited researches in the recent years, due to the demands on robot arms which are of lighter weight, move faster and consume less energy. In this paper, the authors present a nonlinear, distributed-parameter dynamic model for a two-link robot arm, derived using Hamilton’s principle. The dynamic model is then transformed into state-space expression, which gives an infinite-dimensional dynamic system. Position of the tip of the robot arm is chosen as the output of the dynamic system. A nonlinear feedback law is proposed to achieve input-output linearization and decoupling, which is an extension of input-output linearization and decoupling of finite-dimensional dynamic systems.

Keywords

Nonlinear Feedback World Coordinate System Zero Dynamic Nonlinear Feedback Control Homogeneous Transformation Matrice 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. [1]
    X. Ding, T. J. Tarn and A. K. Bejczy, “On the Modeling of Flexible Robot Arms,” Progress in Robotics and Intelligent Systems, C. Y. Ho and G. Zobrist, Editors, to be published.Google Scholar
  2. [2]
    R. P. Paul, “Robot Manipulators: Mathematics, Programming and Control,” MIT Press 1981.Google Scholar
  3. [3]
    T. J. Tarn, A. K. Bejczy, A. Isidori and Y. Chen, “Nonlinear Feedback in Robot ArmGoogle Scholar
  4. Control,“ Proceedings, 23rd IEEE Conference on Decision and Control, Las Vegas, Nevada, Dec. 1984.Google Scholar
  5. [4]
    X. Ding, T. J. Tarn and A. K. Bejczy,“Nonlinear Feedback Control of Flexible Robot Arms,” Progress in Robotics and Intelligent Systems, C. Y. Ho and G. Zobrist, Editors, to be published.Google Scholar

Copyright information

© Springer Science+Business Media New York 1991

Authors and Affiliations

  • Xuru Ding
    • 1
  • T. J. Tarn
    • 2
  • A. K. Bejczy
    • 3
  1. 1.General Motors CorporationWarrenUSA
  2. 2.Washington UniversitySt. LouisUSA
  3. 3.Jet Propulsion LaboratoryCalifornia Institute of TechnologyPasadenaUSA

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