Abstract
A new approach to a previous passivity-based control scheme of single-link flexible manipulators is presented herein. Such previous scheme achieves precise positioning of the link tip by combining a position angular control of the motor (inner loop) with a link vibration damping (outer loop), which can be designed independently by decoupling joint and link dynamics with a linear strain feedback. Although, precise positioning can be achieved under large tip payload changes, the used inner loop cannot eliminate the steady-state position error due to the nonlinearities present in the motor. The contribution presented in this work consists of using a two-degree of freedom PID motor controller to solve this problem, eliminating thus the steady-state error while also improving the settling time of the angular position. Simulation and experimental results are carried out to illustrate these improvements.
Original language | English |
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Title of host publication | ROBOT2013 |
Subtitle of host publication | First Iberian Robotics Conference. Advances in Intelligent Systems and Computing |
Editors | Manual A. Armada, Alberto Sanfeliu, Manuel Ferre |
Publisher | Springer |
Pages | 117–126 |
Number of pages | 10 |
Volume | 253 |
ISBN (Electronic) | 978-3-319-03653-3 |
ISBN (Print) | 978-3-319-03652-6 |
DOIs | |
Publication status | Published - 2014 |
Event | Iberian Robotics Conference Robot - Madrid, Spain Duration: 28 Sept 2013 → 29 Sept 2013 |
Conference
Conference | Iberian Robotics Conference Robot |
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Country/Territory | Spain |
City | Madrid |
Period | 28/09/13 → 29/09/13 |
Keywords
- angular position
- Reduction Gear
- Residual Vibration
- Ciudad Real
- Flexible Robot