Vibration suppression during input tracking of a flexible manipulator using a hybrid controller

详细信息    查看全文

• 作者：ASHISH SINGLA ; ASHISH TEWARI ; BHASKAR DASGUPTA
• 关键词：Command shaping ; vibration suppression ; flexible links ; finite element method ; state estimation.
• 刊名：Sadhana
• 出版年：2015
• 出版时间：September 2015
• 年：2015
• 卷：40
• 期：6
• 页码：1865-1898
• 全文大小：3,967 KB
• 参考文献：Banerjee A and Singhose W 1998 Command shaping in tracking control of a two-link flexible robot. J. Guidance Control Dyn. 21 (6): 1012–1015CrossRef
  Book W J and Majette M 1983 Controller design for flexible, distributed parameter mechanical arms via combined state space and frequency domain techniques. J. Dyn. Syst. Measur. Control 105(4): 245–254MATH CrossRef
  Cambera J C, Chocoteco J A and Feliu V 2014 Feedback linearizing controller for a flexible single-link arm under gravity and joint friction. In: ROBOT2013: First Iberian Robotics Conference, pages 169–184. Springer
  De Luca A and Siciliano B 1991 Closed-form dynamic model of planar multilink lightweight robots. IEEE Trans. Syst. Man Cybern. 21(4): 826–839MathSciNet CrossRef
  Drapeau V and Wang D 1993 Verification of a closed-loop shaped-input controller for a five-bar-linkage manipulator. IEEE International Conference on Robotics and Automation, pages 216–221
  Feliu V, Rattan K S and Brown H B 1990 Adaptive control of a single-link flexible manipulator. IEEE Control Syst. Mag. 10(2): 29–33CrossRef
  Hillsley K L and Yurkovich S 1993 Vibration control of a two-link flexible robot arm. Dyn. Control 3(3): 261–280MATH MathSciNet CrossRef
  Hyde J M and Seering W P 1991 Using input command pre-shaping to suppress multiple mode vibration. IEEE International Conference on Robotics and Automation, pages 2604–2609
  Junkins J L and Kim Y 1993 Introduction to dynamics and control of flexible structures. Aiaa
  Kapila V, Tzes A and Yan Q 2000 Closed-loop input shaping for flexible structures using time-delay control. J. Dyn. Syst. Measur. Control 122: 454–460CrossRef
  Kenison M and Singhose W 2002 Concurrent design of input shaping and proportional plus derivative feedback control. J. Dyn. Syst. Measur. Control 124: 398–405CrossRef
  Meirovitch L 1986 Elements of vibrational analysis. New York: McGraw-Hill
  Mohamed Z and Tokhi M O 2002 Vibration control of a single-link flexible manipulator using command shaping techniques. Proc. Inst. Mech. Eng. Part I: J. Syst. Control Eng. 216(2): 191–210
  Mohan A and Saha S 2009 A recursive, numerically stable, and efficient simulation algorithm for serial robots with flexible links. Multibody Syst. Dyn. 21(1): 1–35MATH MathSciNet CrossRef
  Peláez G, Pelaez G, Perez J, Vizán A and Bautista E 2005 Input shaping reference commands for trajectory following Cartesian machines. Control Eng. Practice 13(8): 941–958CrossRef
  Rattan K S and Feliu V 1991 A robust control scheme for flexible manipulators. IEEE National aerospace and electronics conference: 1090–1095
  Romano M, Agrawal B N and Bernelli-Zazzera F 2002 Experiments on command shaping control of a manipulator with flexible links. J. Guidance Control Dyn. 25(2): 232–239CrossRef
  Shaheed M H and Tokhi O 2013 Adaptive closed-loop control of a single-link flexible manipulator. J. Vibr. Control 19(13): 2068–2080CrossRef
  Singer N C and Seering W P 1990 Preshaping command inputs to reduce system vibration. J. Dyn. Syst. Measur. Control Trans. ASME 112(1): 76–82CrossRef
  Singh T and Vadali S R 1994 Robust time-optimal control: Frequency domain approach. J. Guidance Control Dyn. 17(2): 346–353MATH CrossRef
  Singhose W, Derezinski S and Singer N 1996 Extra-insensitive input shapers for controlling flexible spacecraft. J. Guidance Control Dyn. 19(2): 385–391CrossRef
  Tewari A 2002 Modern control design with MATLAB and SIMULINK. Chichester: Wiley
  Tewari A 2004 Active vibration suppression of spacecraft with rate-weighted optimal control and multi-mode command shaping. In: AIAA/AAS astrodynamics specialist conference and exhibit, providence, Rhode Island
  Tokhi M O, Mohamed Z and Shaheed M H 2001 Dynamic characterisation of a flexible manipulator system. Robotica 19(5): 571–580CrossRef
  Tzes A and Yurkovich S 1993 An adaptive input shaping control scheme for vibration suppression in slewing flexible structures. IEEE Trans. Control Syst. Technol. 1(2): 114–121CrossRef
  Tzou H S 1989 Nonlinear structural dynamics of space manipulators with elastic joints. Int. J. Anal. Exp. Modal Anal. 4: 117–123
  Usoro P B, Mahil S S and Nadira R 1984 A finite element/Lagrange approach to modeling lightweight flexible manipulators, part one: one-link system. Sensors and Controls for Automated Manufacturing and Robotics: 215–228
  Usoro P B, Nadira R and Mahil S S 1986 A finite element/Lagrange approach to modeling lightweight flexible manipulators. J. Dyn. Syst. Measur. Control 108: 198–205MATH CrossRef
  Vaughan J, Yano A and Singhose W 2008 Comparison of robust input shapers. J. Sound Vibr. 315: 797–815CrossRef
  Yigit A. S. 1994 On the Stability of PD Control for a Two-Link Rigid-Flexible Manipulator. J. Dyn. Syst. Measur. Control 116: 179–185CrossRef
  Zain M, Tokhi M O and Mohamed Z 2006a Hybrid learning control schemes with input shaping of a flexible manipulator system. Mechatronics 16(3-4): 209–219
  Zain M, Tokhi M O and Mohamed Z 2006b Performance of hybrid learning control with input shaping for input tracking and vibration suppression of a flexible manipulator. J. Teknologi 44(A): 41–64
  Zhang N, Feng Y and Yu X 2004 Optimization of terminal sliding control for two-link flexible manipulators. IEEE 30th annual conference of industrial electronics society 2: 1318–1322
  
• 作者单位：ASHISH SINGLA (1)
  ASHISH TEWARI (2)
  BHASKAR DASGUPTA (3)
  
  1. Mechanical Engineering Department, Thapar University, Patiala, 147004, India
  2. Department of Aerospace Engineering, Indian Institute of Technology Kanpur, Kanpur, 208016, India
  3. Department of Mechanical Engineering, Indian Institute of Technology Kanpur, Kanpur, 208016, India
  
• 刊物类别：Engineering
• 刊物主题：Engineering, general
  
• 出版者：Springer India, in co-publication with Indian Academy of Sciences
• ISSN：0973-7677

文摘

The aim of this paper is to investigate the performance of the hybrid controller for end-point vibration suppression of a flexible manipulator, while it is tracking a desired input profile. Due to large structural vibrations, precise control of flexible manipulators is a challenging task. A hybrid controller is used to track large movements of flexible robotic manipulators, which is a combination of inverse dynamics feedforward control, command shaping and linear state feedback control. The case study of a single-link flexible manipulator is considered, where the manipulator is controlled under open-loop as well as closed-loop control scheme. In the open-loop control scheme, the aim is to test the effectiveness of the command shaper in reducing the vibration levels. Moreover, the effect of payload variations on the performance of command shapers and the importance of more robust shapers is demonstrated in this work. Under the closed-loop control scheme, the control objective is to track the large-hub angle trajectory, while maintaining low vibration levels. In comparison to collocated PD control, being reported in the literature, large reductions in tip acceleration levels as well as input torque magnitudes are observed with the proposed hybrid controller. Keywords Command shaping vibration suppression flexible links finite element method state estimation.