This paper presents a new approach to end-point trajectory control of flexible macro-micro manipulator based on nonlinear inversion and predictive control techniques. In this approach, precise control of the end-effector trajectory is accomplished by the inverse controller of the rigid micro manipulator, and the predictive controller steers the end point of the flexible macro manipulator with limited elastic oscillation. The predictive control law is obtained by minimizing a quadratic function of the tip tracking error, the elastic deflection, and the input torque of the flexible macro manipulator. The feedback parameters of the predictive controller are chosen such that zero dynamics are asymptotically stable. The combination of the inverse and the predictive controllers accomplishes precise end-effector trajectory tracking and elastic mode stabilization. These results are applied to a planar macro-micro manipulator system consisting of one flexible link and two micro rigid links. Simulation results are presented to show that in the closed-loop system time varying end point trajectory control and elastic mode stabilization are accomplished.
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September 1997
Technical Papers
Nonlinear Inverse and Predictive End Point Trajectory Control of Flexible Macro-Micro Manipulators
Woosoon Yim,
Woosoon Yim
Department of Mechanical Engineering, University of Nevada, Las Vegas, NV 89154
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Sahjendra N. Singh
Sahjendra N. Singh
Department of Electrical and Computer Engineering, University of Nevada, Las Vegas, NV 89154
Search for other works by this author on:
Woosoon Yim
Department of Mechanical Engineering, University of Nevada, Las Vegas, NV 89154
Sahjendra N. Singh
Department of Electrical and Computer Engineering, University of Nevada, Las Vegas, NV 89154
J. Dyn. Sys., Meas., Control. Sep 1997, 119(3): 412-420 (9 pages)
Published Online: September 1, 1997
Article history
Received:
September 1, 1994
Revised:
November 18, 1995
Online:
December 3, 2007
Citation
Yim, W., and Singh, S. N. (September 1, 1997). "Nonlinear Inverse and Predictive End Point Trajectory Control of Flexible Macro-Micro Manipulators." ASME. J. Dyn. Sys., Meas., Control. September 1997; 119(3): 412–420. https://doi.org/10.1115/1.2801273
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