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A Benchmark Problem for Robust Feedback Control of a Flexible ManipulatorA benchmark problem for robust feedback control of a flexible manipulator
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
ABB AB, Sweden.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2007 (English)Report (Other (popular science, discussion, etc.))
Abstract [en]

A benchmark problem for robust feedback control of a flexible manipulator is presented. The system to be controlled is a four-mass system subject to input saturation, nonlinear gear elasticity, model uncertainties, and load disturbances affecting both the motor and the arm. The system should be controlled by a discrete-time controller that optimizes performance for given robustness requirements. Four suggested solutions are presented, and even though the solutions are based on different design methods, they give comparable results.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2007. , 12 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2820
Keyword [en]
Robots, manipulators, flexible structures, robustness, position control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-12854ISRN: LiTH-ISY-R-2820OAI: oai:DiVA.org:liu-12854DiVA: diva2:17210
Available from: 2008-01-07 Created: 2008-01-07 Last updated: 2014-10-08Bibliographically approved
In thesis
1. On Modeling and Control of Flexible Manipulators
Open this publication in new window or tab >>On Modeling and Control of Flexible Manipulators
2007 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot performance, reducing the robot cost, improving safety, and introducing new functionalities. Therefore, there is a need to continuously improve the models and control methods in order to fulfil all conflicting requirements, such as increased performance for a robot with lower weight, and thus lower mechanical stiffness and more complicated vibration modes. One reason for this development of the robot mechanical structure is of course cost-reduction, but other benefits are lower power consumption, improved dexterity, safety issues, and low environmental impact.

This thesis deals with three different aspects of modeling and control of flexible, i.e., elastic, manipulators. For an accurate description of a modern industrial manipulator, the traditional flexible joint model, described in literature, is not sufficient. An improved model where the elasticity is described by a number of localized multidimensional spring-damper pairs is therefore proposed. This model is called the extended flexible joint model. This work describes identification, feedforward control, and feedback control, using this model.

The proposed identification method is a frequency-domain non-linear gray-box method, which is evaluated by the identification of a modern six-axes robot manipulator. The identified model gives a good description of the global behavior of this robot.

The inverse dynamics control problem is discussed, and a solution methodology is proposed. This methodology is based on a differential algebraic equation (DAE) formulation of the problem. Feedforward control of a two-axes manipulator is then studied using this DAE approach.

Finally, a benchmark problem for robust feedback control of a single-axis extended flexible joint model is presented and some proposed solutions are analyzed.

Place, publisher, year, edition, pages
Institutionen för systemteknik, 2007. 146 p.
Series
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 1336
Keyword
System identification, multivariable systems, differential-algebraic equations, robots, manipulators, flexible structures, robustness, position control, nonlinear systems, closed-loop identification, frequency-response methods, industrial robots, robotics, control, feedforward, flexible arms
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-10463 (URN)978-91-85895-29-8 (ISBN)
Presentation
2007-12-19, Visionen, Hus B, Campus Valla, Linköpings Universitet, Linköping, 10:15 (English)
Opponent
Supervisors
Available from: 2008-01-07 Created: 2008-01-07 Last updated: 2009-05-08

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Moberg, StigGunnarsson, Svante

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