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A nonlinear model-based control of flexible robots

Published online by Cambridge University Press:  09 March 2009

CM. Pham ,
W. Khalil  and
C. Chevallereau
CM. Pham
Affiliation:
ECN, Laboratoire d'Automatique, (UAR CNRS 823, 1 rue de la Noë, 44072 Nantes (France)
W. Khalil
Affiliation:
ECN, Laboratoire d'Automatique, (UAR CNRS 823, 1 rue de la Noë, 44072 Nantes (France)
C. Chevallereau
Affiliation:
ECN, Laboratoire d'Automatique, (UAR CNRS 823, 1 rue de la Noë, 44072 Nantes (France)
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Summary

This paper present a nonlinear, model-based control of flexible link robots. The control task is formulated requiring rigid joints variables to track reference time-varying trajectory and elastic deflection to be damped. The stability and robustness properties of the control scheme are analyzed from a passive energy consideration. A direct adaptive version is also proposed. Extensive evaluation of this approach is performed using experimental validations involving a single-flexible-link and a two-flexible-link horizontal robot. Experimental results show significant performances of the controller under relatively severe working conditions: 700% payload to arm ratio and 20% elastic deflection ratio at highest acceleration stages.

Keywords

Flexible robotsNon-linear controlRigid jointsAdaptive control.
Type
Research Article
Information
Robotica , Volume 11 , Issue 1 , January 1993 , pp. 73 - 82
Copyright
Copyright © Cambridge University Press 1993

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