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Nonlinear inverse and predictive end point trajectory control of flexible macro-micro manipulators. (English) Zbl 0899.93025

A new approach to the end effector trajectory control of an elastic macro-micro (M-m) manipulator is presented. The inverse control law is used for the precise tracking of the end effector trajectory in the workspace while the predictive control law is used for the control of the pseudoangles of the macro manipulator and for elastic mode stabilization. It is shown that the proper combination of the inverse and the predictive controllers can accomplish precise tracking capability, vibration suppression, and a smooth control torque. The results are applied to a planar M-m robotic system consisting of one flexible link and two micro rigid links on the macro link top.

MSC:

93C85 Automated systems (robots, etc.) in control theory
74M05 Control, switches and devices (“smart materials”) in solid mechanics
93B51 Design techniques (robust design, computer-aided design, etc.)
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