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Model uncertainty complicates most kinodynamic motion planning and control approaches due to their reliance on accurate forward prediction. If the model uncertainty is significant, a generated path or control strategy based on forward simulation of this model is potentially invalid and expensive to track (if possible). This paper explores the use of system identification/estimation to tune model parameters...
We treat the question of position and force control of three-axis elastic robotic systems on a constraint surface based on nonlinear inversion of an input-output map and linear feedback stabilization. Unlike the rigid robots, the feedback linearizing control of end point motion gives rise to unstable zero dynamics. Instability of zero dynamics is avoided by controlling a parameterized output vector...
The question of realization and feedback linearization of a class of differential-algebraic systems is considered. Based on nonlinear inversion of an input-output map, an analytical expression for the constraint force vector satisfying the algebraic constraints is derived. In this derivation, certain requirements on the relative degree of the output variables are relaxed. Using a new representation...
The question of control of the end effector trajectory and stabilization of a two-link flexible robotic arm is considered. A control law based on the inversion of an input-output map is obtained. The outputs are chosen as the sum of the joint angle and tip elastic deformation times a constant factor for each link. The stable maneuver of the arm critically depends on the stability of the zero dynamics...
We treat the question of control of an elastic robotic arm of two links. Ofcourse this approach can be extended to other elastic arms. A nonlinear ultimate boundedness controller (UBC) is synthesised such that in the closed-loop system, the joint angle tracking error is uniformly bounded, and tends to a certain small neighborhood of the origin. The controller includes a reference joint angle trajectory...
This paper considers control of an elastic robotic arm of two links based on nonlinear inversion and pole assignment for stabilization. The design is done in two steps. First, based on nonlinear inversion, a nonlinear controller is designed for the trajectory control of the joint angles using joint torquers. Although, the inverse controller accomplishes trajectory control of the joint angles, this...
Energy efficient, lightweight robot arms for space applications have considerable structural flexibility. We present in this paper an approach to control of a class of flexible robotic systems. A control law is derived which decouples the joint-angle motion from the flexible motion and, in addition, asymptotically decomposes the elastic dynamics into two subsystems. This allows the design of an elastic...
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