By M. Moallem
This monograph is worried with the advance and implementation of nonlinear mathematical concepts for suggestions keep an eye on and form layout of robotic manipulators whose hyperlinks have enormous structural flexibility. numerous nonlinear keep an eye on and statement options are studied and carried out via simulations and experiments in a laboratory setup. those ideas contain fundamental manifolds in singular perturbation idea, nonlinear input-output decoupling, nonlinear observers and sliding control.
The learn of dynamic houses and regulate thoughts for flexible-link manipulators is usually a framework for designing the mechanical form and fabric of those structures such that enhanced homes could be accomplished on the way to facilitate the keep an eye on challenge. consequently, structural form optimization is taken into account as a way of bettering the dynamic behaviour of flexible-link manipulators.
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This monograph is anxious with the advance and implementation of nonlinear mathematical innovations for suggestions keep watch over and form layout of robotic manipulators whose hyperlinks have massive structural flexibility. numerous nonlinear regulate and commentary concepts are studied and applied by way of simulations and experiments in a laboratory setup.
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Additional resources for control and design of flexible link manipulator
The same strategy is further expanded in Chapter 5, using the concept of sliding surfaces in variable structure control. It is shown that a more robust performance is achieved in the face of considerabIe parametric uncertainties. 1. 3. 0bservation Strategy for Flexural Rates Many advanced control strategies require knowledge of flexible modes as well as their time derivatives (flexural rates). The flexible modes can be measured by economic sensors such as strain gauges. but the measurement of flexural rates is rather inconvenient and prone to errors.
23). , The objective, as proposed in 1421, ,[go] is to design the control terms uo, ul and u2 such that the resulting closed-loop system has asymptoticaIly stable zero dynamics. 24) into ji, = vo where vo, v l , and 212 + + E2v2 EVl are new inputs to be defined subsequently. Note that with the above choice of control law, hlo, hll, and h12 are now expressed in terms of UO, q, and v2, respectively. 29) where vT = [vr v:], and The matrices Al and A2 are chosen such that the zero-dynamics are asymptotically stable.
A closer inspection of A reveals that decreasing rpdllP,,ll, 7EIIPc11 , and 2rVllPqll + l3 fulfills the aforementioned goal. It can also be concluded from these terms that choosing the gain matrices to reduce the norms IIPqII, llaPq(xl)/a~111~ IIA~AT~[K Kd]llr ~ IIPvll, IIM(xl)II, and llPcl1 will generally result in a more robust closed-loop system. Of these terms, the matrix M(xl) was found experimentally to have a significant effect on robustness. 8)) which in turn appears as an O(1) off-diagonal term in A.