For joint tracking control of flexible robots, this paper presents a two-step design of controller: the bandwidth modulation with modal feedback approach. First, we focus on the design of rigid part’s motion controller considering the bandwidth of the rigid subsystem. We investigate the relationship between macro joint tracking performance and vibration suppression capability using the bandwidth parameter. After adjusting the bandwidth of rigid motion, the composite control, which is the second step consisting of rigid and flexible sub-controllers, is applied like singular perturbation approach. As the flexible sub-controller, we propose a direct modal feedback controller that is very simple, but effective to suppress the vibration. The validity and effectiveness of the proposed method are verified by experiments using a POSTECH 3-D flexible robot.
Two-Step Controller for 3-D Flexible Link Manipulators: Bandwidth Modulation and Modal Feedback Approach
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, Aug. 2001; final revision, May 2002. Associate Editor: C. Rahn.
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Cheong, J., Chung, W. K., and Youm, Y. (December 16, 2002). "Two-Step Controller for 3-D Flexible Link Manipulators: Bandwidth Modulation and Modal Feedback Approach ." ASME. J. Dyn. Sys., Meas., Control. December 2002; 124(4): 566–574. https://doi.org/10.1115/1.1514240
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