Abstract
In this paper, we investigate the control of a very flexible parallel robot with high accuracy. This robot has two very flexible long links and can be modeled as an underactuated multibody system since it has fewer control inputs than degrees of freedom for rigid body motion and deformation. Therefore, these flexibilities are taken into account in the control design. In order to obtain high performance in the end-effector trajectory tracking, an accurate and efficient nonlinear controller is designed. This nonlinear feedback controller is based on the Lyapunov approach using the measurable states of the system. Then, it is carefully tested on the flexible parallel robot. The simulation and experimental results show that the end-effector tracks desired trajectories with high accuracy. Also, the designed controller is compared to previous works and the results show that the controller can achieve higher tracking performance.
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Acknowledgements
This research is endorsed by the Cluster of Excellence in Simulation Technology SimTech at the University of Stuttgart and is partially funded by the Landesgraduiertenkolleg Baden-Württemberg. The authors appreciate these discussions.
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Eberhard, P., Ansarieshlaghi, F. (2020). Nonlinear Position Control of a Very Flexible Parallel Robot Manipulator. In: Kecskeméthy, A., Geu Flores, F. (eds) Multibody Dynamics 2019. ECCOMAS 2019. Computational Methods in Applied Sciences, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-030-23132-3_19
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DOI: https://doi.org/10.1007/978-3-030-23132-3_19
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