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Simulation studies of tip tracking control of a single-link flexible robot based on a lumped model

Published online by Cambridge University Press:  01 January 1999

G. Zhu ,
S.S. Ge  and
T.H. Lee
G. Zhu
Affiliation:
Centre for Intelligent Control, Department of Electrical Engineering, National University of Singapore, 10 Kent Ridge Crescent (Singapore) 119260. E-mail: zhuge@ee.nus.sg
S.S. Ge
Affiliation:
Centre for Intelligent Control, Department of Electrical Engineering, National University of Singapore, 10 Kent Ridge Crescent (Singapore) 119260. E-mail: elegss@ee.nus.sg
T.H. Lee
Affiliation:
Centre for Intelligent Control, Department of Electrical Engineering, National University of Singapore, 10 Kent Ridge Crescent (Singapore) 119260. E-mail: eleleeth@leonis.nus.sg
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Abstract

In this paper, tip tracking control of a single-link flexible robot is studied through computer simulations. The controller investigated is of a two-loop PD type, which is deduced from a control approach originally developed for elastic joint robots. A very simple model, with the flexible link of the robot being lumped to a spring-mass unit, is employed for the controller design. Bounded Input and Bounded Output (BIBO) stable tip tracking performance is guaranteed. The controller is robustly stable under system parameter uncertainties, and is comparatively easy to implement. In the simulations, different payloads are considered, and the system performance is compared with the traditional Singular Perturbation (SP) method. The simulation results show that the PD type controller designed based on the simple lumped model is able to provide quite satisfactory performance.

Keywords

Flexible link robotLumpingTracking control
Type
Research Article
Information
Robotica , Volume 17 , Issue 1 , January 1999 , pp. 71 - 78
Copyright
© 1999 Cambridge University Press

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