Abstract
Flexible robots can be modeled as underactuated multibody systems since they generally have less control inputs than degrees of freedom for rigid body motion and deformation. The flexibilities must be taken into account in the control design. In order to obtain high performance in the end-effector trajectory tracking, an accurate and efficient nonlinear controller is required. In this paper, a nonlinear feedback controller based on the feedback linearization approach using all the states of the system is designed and carefully tested on a very flexible parallel lambda robot. The simulation and experimental results show that the end-effector tracks a trajectory with higher accuracy compared to previous works.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Burkhardt, M., Seifried, R., and Eberhard, P.: Experimental studies of control concepts for a parallel manipulator with flexible links. In: Proceedings of the 3rd Joint International Conference on Multibody System Dynamics and the 7th Asian Conference on Multibody Dynamics, Busan, Korea, June–July 2014
Morlock, M., Burkhardt, M., Seifried, R.: Friction compensation, gain scheduling and curvature control for a flexible parallel kinematics robot. In: Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, September–October 2015
Ansarieshlaghi, F., Eberhard, P.: Design of a nonlinear observer for a very flexible parallel robot. In: Proceedings of the 7th GACM Colloquium on Computational Mechanics for Young Scientists from Academia and Industry, Stuttgart, Germany, October 2017
Khalil, H.K.: Nonlinear Systems, 3rd edn. Prentice-Hall, New Jersey (2002)
Morlock, M., Burkhardt, M., Seifried, R.: Control of vibrations for a parallel manipulator with flexible links - concepts and experimental results. In: MOVIC & RASD 2016, International Conference, Southampton, England, July 2016
Blajer, W., Kolodziejczyk, K.: A geometric approach to solving problems of control constrains: theory and a DAE framework. Multibody Syst. Dyn. 11(4), 343–364 (2004)
Primbs, J.: Survey of nonlinear observer design techniques. Penn State Notes 1(1), 1–18 (1996)
Khalil, H.K.: High-gain observers in nonlinear feedback control. In: Proceedings of the International Conference on Control, Automation and Systems, ICCAS, Seoul, Korea, October 2008
Acknowledgements
This research was partially supported by the German Research Foundation within the Cluster of Excellence in Simulation Technology SimTech at the University of Stuttgart. The authors appreciate these discussions.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 CISM International Centre for Mechanical Sciences
About this paper
Cite this paper
Ansarieshlaghi, F., Eberhard, P. (2019). Trajectory Tracking Control of a Very Flexible Robot Using a Feedback Linearization Controller and a Nonlinear Observer. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_5
Download citation
DOI: https://doi.org/10.1007/978-3-319-78963-7_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-78962-0
Online ISBN: 978-3-319-78963-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)