Robust Control of Collaborative Manipulators - Flexible Object System
Abstract In many manufacturing and automobile industries, flexible components need to be positioned with the help of coordinated operations of manipulators. This paper deals with the robust design of a control system for two planar rigid manipulators moving a flexible object in the prescribed trajec...
Main Authors: | , , |
---|---|
Format: | Article |
Language: | English |
Published: |
SAGE Publishing
2013-05-01
|
Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/56204 |
id |
doaj-c5a25a9cf7bf4722bf04f437ade0fe3f |
---|---|
record_format |
Article |
spelling |
doaj-c5a25a9cf7bf4722bf04f437ade0fe3f2020-11-25T03:34:12ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-05-011010.5772/5620410.5772_56204Robust Control of Collaborative Manipulators - Flexible Object SystemBalasubramanian Esakki0Rama B. Bhat1Chun-Yi Su2 Department of Mechanical Engineering, Vel Tech Dr. RR and Dr. SR Technical University, India Department of Mechanical and Industrial Engineering, Concordia University, Canada Department of Mechanical and Industrial Engineering, Concordia University, CanadaAbstract In many manufacturing and automobile industries, flexible components need to be positioned with the help of coordinated operations of manipulators. This paper deals with the robust design of a control system for two planar rigid manipulators moving a flexible object in the prescribed trajectory while suppressing the vibration of the flexible object. Dynamic equations of the flexible object are derived using the Hamiltonian principle, which is expressed as a partial differential equation (PDE) with appropriate boundary conditions. Then, a combined dynamics is formulated by combining the manipulators and object dynamics without any approximation. The resulting dynamics are thus described by the PDEs, having rigid as well as flexible parameters coupled together. This paper attempts to develop a robust control scheme without approximating the PDE in order to avoid measurements of flexible coordinates and their time derivatives. For this purpose, the two subsystems, namely slow and fast subsystems, are identified by using the singular perturbation technique. Specific robust controllers for both the subsystems are developed. In general, usage of the singular perturbation technique necessitates exponential stability of both subsystems, which is evaluated by satisfying Tikhnov's theorem. Hence, the exponential stability analysis is performed for both subsystems. Focusing on two three-link manipulators holding a flexible beam, simulations are performed and simulation results demonstrate the versatility of the proposed robust composite control scheme.https://doi.org/10.5772/56204 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Balasubramanian Esakki Rama B. Bhat Chun-Yi Su |
spellingShingle |
Balasubramanian Esakki Rama B. Bhat Chun-Yi Su Robust Control of Collaborative Manipulators - Flexible Object System International Journal of Advanced Robotic Systems |
author_facet |
Balasubramanian Esakki Rama B. Bhat Chun-Yi Su |
author_sort |
Balasubramanian Esakki |
title |
Robust Control of Collaborative Manipulators - Flexible Object System |
title_short |
Robust Control of Collaborative Manipulators - Flexible Object System |
title_full |
Robust Control of Collaborative Manipulators - Flexible Object System |
title_fullStr |
Robust Control of Collaborative Manipulators - Flexible Object System |
title_full_unstemmed |
Robust Control of Collaborative Manipulators - Flexible Object System |
title_sort |
robust control of collaborative manipulators - flexible object system |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2013-05-01 |
description |
Abstract In many manufacturing and automobile industries, flexible components need to be positioned with the help of coordinated operations of manipulators. This paper deals with the robust design of a control system for two planar rigid manipulators moving a flexible object in the prescribed trajectory while suppressing the vibration of the flexible object. Dynamic equations of the flexible object are derived using the Hamiltonian principle, which is expressed as a partial differential equation (PDE) with appropriate boundary conditions. Then, a combined dynamics is formulated by combining the manipulators and object dynamics without any approximation. The resulting dynamics are thus described by the PDEs, having rigid as well as flexible parameters coupled together. This paper attempts to develop a robust control scheme without approximating the PDE in order to avoid measurements of flexible coordinates and their time derivatives. For this purpose, the two subsystems, namely slow and fast subsystems, are identified by using the singular perturbation technique. Specific robust controllers for both the subsystems are developed. In general, usage of the singular perturbation technique necessitates exponential stability of both subsystems, which is evaluated by satisfying Tikhnov's theorem. Hence, the exponential stability analysis is performed for both subsystems. Focusing on two three-link manipulators holding a flexible beam, simulations are performed and simulation results demonstrate the versatility of the proposed robust composite control scheme. |
url |
https://doi.org/10.5772/56204 |
work_keys_str_mv |
AT balasubramanianesakki robustcontrolofcollaborativemanipulatorsflexibleobjectsystem AT ramabbhat robustcontrolofcollaborativemanipulatorsflexibleobjectsystem AT chunyisu robustcontrolofcollaborativemanipulatorsflexibleobjectsystem |
_version_ |
1724560020283064320 |