By M. Moallem
This monograph is worried with the improvement and implementation of nonlinear mathematical strategies for suggestions regulate and form layout of robotic manipulators whose hyperlinks have significant structural flexibility. numerous nonlinear regulate and commentary thoughts are studied and applied by means of simulations and experiments in a laboratory setup. those innovations contain crucial manifolds in singular perturbation thought, nonlinear input-output decoupling, nonlinear observers and sliding control.
The examine of dynamic homes and keep an eye on concepts for flexible-link manipulators is usually a framework for designing the mechanical form and fabric of those platforms such that more advantageous homes will be completed in an effort to facilitate the regulate challenge. hence, structural form optimization is taken into account as a way of bettering the dynamic behaviour of flexible-link manipulators.
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5 together with the tip deflection error at each instant of time. 4h). A quantitative measure to evaluate the tracking performance of the controllers can be defined as the ratio of maximum tip deflection error to the maximum arm deflection during the whole trajectory. 5). 13)in the above ratio. Experimental Results In this section, the practical implementation of the control strategy discussed in this chapter is investigated. 6 shows the schematic diagram of our experimental setup. 251kg payload attached to its end point.
This is an attractive feature from a practical implementation point of view as tip deflection rates are not directly measured, but tip positions can be readily measured by camera vision systems or strain gauge sensors. The control law is more complicated than its rigid counterpart; however the use of symbolic manipulation software and fast real-time control technology make the implementation of such a control law feasible.
The slow control components of u2 (e-g. )) were obtained by MAPLE. The matrices F(xl), G(xl), and M ( x l ) are obtained to place the poles of AV(xl) in the left-half of the complex plane. This is achieved by obtaining the two gain matrices K ( x l ) and L ( x l ) as follows: The matrix K ( x l ) is obtained by solving a pole placement problem for the pair (Afo(xl), Bfo(xl)) with a prescribed set of pole locations PK, selected to be in the left-half of the complex plane. Similarly, the matrix L(xl) is obtained by placing the poles of the pair (AF,(xl), C r ) to be at a prescribed set of pole locations PL, selected to be in the left-half of the complex plane.