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Descripción
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| This work presents a new methodology for the design of a passivity-based control of single-link flexible manipulators. The control objective is the precise positioning of the link tip under large payload changes,which is achieved by combining a precise joint positioningwith a link vibration damping. The main ingredients of the proposed methodology are as follows: a) a linear strain feedback is used to decouple the joint and link dynamics, b) the precise joint positioning is thus simplified to a motor controller, which is designed to be robust to joint frictions, and c) the residual tip vibrations are damped by a control designed using a passivity property between the strain measured at the base of the link and the joint velocity. Simulations and experimental results illustrated the performance of the proposed methodology. | |
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Internacional
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JCR del ISI
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Si |
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Título de la revista
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Mechanism And Machine Theory |
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ISSN
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0094-114X |
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Factor de impacto JCR
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1,31 |
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Información de impacto
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Volumen
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71 |
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DOI
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Número de revista
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Desde la página
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191 |
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Hasta la página
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208 |
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Mes
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SIN MES |
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Ranking
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