TY - GEN
T1 - Partial feedback linearization control of a single flexible link robot manipulator
AU - Arisoy, A.
AU - Gökaşan, M.
AU - Bogosyan, O. S.
PY - 2005
Y1 - 2005
N2 - In this study, a control approach based on a partial feedback linearization is developed for the tracking of stationary and moving targets with robotic structures. To address the high speed, high accuracy requirements of lightweight robotic systems for such applications, the control of a single link flexible arm is taken into consideration. Flexible Link Robot manipulators are classified among underactuated systems due to their structural flexibilities and resulting high number of passive degrees-of-freedom. Underactuated systems cannot be decoupled due to the highly nonlinear structure and exact feedback linearization control methods cannot be applied to these systems. Therefore partial feedback linearization control methods are suitable to the entire class of underactuated systems. In this study, classical PD based collocated Partial Feedback Linearization is applied for positioning and tracking control. For set point control, collocated and non-collocated control algorithms are applied consecutively using switching action to improve the position precision as demonstrated by simulations. The proposed control strategy has proven to be effective for the control of a single flexible link arm and therefore, could meet the control requirement of high speed, lightweight structures used in space. Numerical simulations of a single flexible link robot manipulator successfully demonstrate the effectiveness of the proposed method.
AB - In this study, a control approach based on a partial feedback linearization is developed for the tracking of stationary and moving targets with robotic structures. To address the high speed, high accuracy requirements of lightweight robotic systems for such applications, the control of a single link flexible arm is taken into consideration. Flexible Link Robot manipulators are classified among underactuated systems due to their structural flexibilities and resulting high number of passive degrees-of-freedom. Underactuated systems cannot be decoupled due to the highly nonlinear structure and exact feedback linearization control methods cannot be applied to these systems. Therefore partial feedback linearization control methods are suitable to the entire class of underactuated systems. In this study, classical PD based collocated Partial Feedback Linearization is applied for positioning and tracking control. For set point control, collocated and non-collocated control algorithms are applied consecutively using switching action to improve the position precision as demonstrated by simulations. The proposed control strategy has proven to be effective for the control of a single flexible link arm and therefore, could meet the control requirement of high speed, lightweight structures used in space. Numerical simulations of a single flexible link robot manipulator successfully demonstrate the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=33947512935&partnerID=8YFLogxK
U2 - 10.1109/RAST.2005.1512577
DO - 10.1109/RAST.2005.1512577
M3 - Conference contribution
AN - SCOPUS:33947512935
SN - 0780389778
SN - 9780780389779
T3 - RAST 2005 - Proceedings of 2nd International Conference on Recent Advances in Space Technologies
SP - 282
EP - 287
BT - RAST 2005 - Proceedings of 2nd International Conference on Recent Advances in Space Technologies
T2 - RAST 2005 - 2nd International Conference on Recent Advances in Space Technologies
Y2 - 9 June 2005 through 11 June 2005
ER -