Paper Info
Title
Control of a Lightweight Flexible Robotic Arm Using Sliding Modes
Abstract
This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with well- established stability properties while an LQR optimal design is adopted for the flexible dynamics. Experimental results show that this composite approach achieves good closed loop tracking properties both for the rigid and the flexible dynamics. Flexible-link robotic manipulators have many advantages with respect to conventional rigid robots. These mechanisms are built using lighter, cheaper materials, which improve the payload to arm weight ratio, thus resulting in an increase of the speed with lower energy consumption. Moreover these lightweight arms are more safely operated due to the reduced inertia and compliant structure, which is very convenient for delicate assembly tasks and interaction with fragile objects, including human beings. However, the dynamic analysis and control of flexible- link manipulators is much more complex than the analysis and control of the equivalent rigid manipulators. From the modelling standpoint, the challenges are associated with the fact that the non-linear rigid body motions are now strongly coupled with the distributed effects of the flexibility along the mechanical structure. This coupling varies with the system configuration and the load inertia. Besides, the dynamic equations of flexible structures are infinite dimensional, although for control purposes approximated finite order models are usually considered. This truncation, along with the difficulties in modelling the coupling and nonlinearities of the system, can be the source of uncertainties in the
Year
DOI
Venue
2006
10.5772/5798
Clinical Orthopaedics and Related Research
Keywords
Field
DocType
flexible robotic arms,sliding control,robust control.,robot manipulators,rigid body motion,dynamic analysis,robust control,optimal design,robot arm
Robotic arm,Coupling,Simulation,Computer science,Rigid body,Optimal design,Inertia,Robot,Robust control,Payload
Journal
Volume
ISSN
Citations 
abs/cs/060
International Journal of Advanced Robotics Systems, Vol.2No2. (2005)
5
PageRank 
References 
Authors
0.56
8
3
Name
Order
Citations
PageRank
Victor Etxebarria1284.78
Arantza Sanz281.66
Ibone Lizarraga3141.60