Tip position control of a flexible-link arm

A. Arisoy; M. Gökasan; O. S. Bogosyan

doi:10.1109/AMC.2006.1631700

Tip position control of a flexible-link arm

A. Arisoy^*, M. Gökasan, O. S. Bogosyan

^*Corresponding author for this work

Department of Control and Automation Engineering

Research output: Contribution to conference › Paper › peer-review

4 Citations (Scopus)

Abstract

Partial Feedback Linearization (PFL) control method is applied to a single Flexible Link Arm (FLA) with payload. A feedback linearization based controller is designed to achieve set point positioning control. Flexible robot arms have structural flexibilities and resulting high number of passive degrees-of-freedom. They cannot be decoupled due to the highly nonlinear structure. Since exact feedback linearization control methods cannot be applied to these systems. Partial feedback linearization control methods are suitable for the flexible systems. For set-point control, collocated PFL control is applied to achieve the desired hub unit position and non-collocated PFL control algorithm is applied consecutively using switching action to improve the tip-position precision of a single FLA as demonstrated by simulations. Numerical simulations of a single FLA successfully demonstrate the effectiveness of the proposed method.

Original language	English
Pages	445-450
Number of pages	6
DOIs	https://doi.org/10.1109/AMC.2006.1631700
Publication status	Published - 2006
Event	9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey Duration: 27 Mar 2006 → 29 Mar 2006

Conference

Conference	9th IEEE International Workshop on Advanced Motion Control, 2006
Country/Territory	Turkey
City	Istanbul
Period	27/03/06 → 29/03/06

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10.1109/AMC.2006.1631700

Cite this

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abstract = "Partial Feedback Linearization (PFL) control method is applied to a single Flexible Link Arm (FLA) with payload. A feedback linearization based controller is designed to achieve set point positioning control. Flexible robot arms have structural flexibilities and resulting high number of passive degrees-of-freedom. They cannot be decoupled due to the highly nonlinear structure. Since exact feedback linearization control methods cannot be applied to these systems. Partial feedback linearization control methods are suitable for the flexible systems. For set-point control, collocated PFL control is applied to achieve the desired hub unit position and non-collocated PFL control algorithm is applied consecutively using switching action to improve the tip-position precision of a single FLA as demonstrated by simulations. Numerical simulations of a single FLA successfully demonstrate the effectiveness of the proposed method.",

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year = "2006",

doi = "10.1109/AMC.2006.1631700",

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T1 - Tip position control of a flexible-link arm

AU - Arisoy, A.

AU - Gökasan, M.

AU - Bogosyan, O. S.

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N2 - Partial Feedback Linearization (PFL) control method is applied to a single Flexible Link Arm (FLA) with payload. A feedback linearization based controller is designed to achieve set point positioning control. Flexible robot arms have structural flexibilities and resulting high number of passive degrees-of-freedom. They cannot be decoupled due to the highly nonlinear structure. Since exact feedback linearization control methods cannot be applied to these systems. Partial feedback linearization control methods are suitable for the flexible systems. For set-point control, collocated PFL control is applied to achieve the desired hub unit position and non-collocated PFL control algorithm is applied consecutively using switching action to improve the tip-position precision of a single FLA as demonstrated by simulations. Numerical simulations of a single FLA successfully demonstrate the effectiveness of the proposed method.

AB - Partial Feedback Linearization (PFL) control method is applied to a single Flexible Link Arm (FLA) with payload. A feedback linearization based controller is designed to achieve set point positioning control. Flexible robot arms have structural flexibilities and resulting high number of passive degrees-of-freedom. They cannot be decoupled due to the highly nonlinear structure. Since exact feedback linearization control methods cannot be applied to these systems. Partial feedback linearization control methods are suitable for the flexible systems. For set-point control, collocated PFL control is applied to achieve the desired hub unit position and non-collocated PFL control algorithm is applied consecutively using switching action to improve the tip-position precision of a single FLA as demonstrated by simulations. Numerical simulations of a single FLA successfully demonstrate the effectiveness of the proposed method.

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U2 - 10.1109/AMC.2006.1631700

DO - 10.1109/AMC.2006.1631700

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SP - 445

EP - 450

T2 - 9th IEEE International Workshop on Advanced Motion Control, 2006

Y2 - 27 March 2006 through 29 March 2006

ER -

Tip position control of a flexible-link arm

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