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Dynamic Compensation Control of Flexible Macro-Micro Manipulator Systems

文献类型：期刊论文

作者Yang TW(杨唐文); Xu WL(徐卫良); Han JD(韩建达)
刊名IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
出版日期2010
卷号18期号:1页码:143-151
关键词Endpoint control error compensation flexible manipulators macro-micro systems
ISSN号1063-6536
产权排序3
中文摘要Macro-micro architecture, which consists of macro and micro manipulators, is used here to eliminate errors at the tip of a flexible manipulator. The macro uses long arms and has such advantages as larger work volume and lower energy consumption but suffers from large deformations and vibrations. The micro is a smaller rigid manipulator and is attached on the end of the macro to isolate the system endpoint from the undesirable flexibility of the macro. Using perturbation theories, a new kinematical method is introduced, first, by redefining the micro's motion as a means of compensating for the errors at the endpoint of the macro. Then, an excellent practical control scheme is proposed to realize the endpoint control with the feedback of joint angles and vibrations. A PD controller is applied to the micro, which augmented the compensation quantities. To damp out vibrations, a nonlinear control law is proposed for the macro, taking the interacting dynamics of the micro to the macro into account. The compensation and control algorithms work very well on a macro-micro setup, and numerous experimental results prove the applicability of the proposed schemes.
WOS标题词Science & Technology ; Technology
类目[WOS]Automation & Control Systems ; Engineering, Electrical & Electronic
研究领域[WOS]Automation & Control Systems ; Engineering
关键词[WOS]VIBRATION
收录类别SCI ; EI
资助信息This work was supported in part by the National Science Fund of China under Grant 60305008, by the State Key Laboratory of Robotics, CAS under Grant RL200702, and by the Beijing Jiaotong University under Grant 2007XM007.
语种英语
WOS记录号WOS:000273091300013
公开日期2012-05-29
源URL[http://ir.sia.cn/handle/173321/7347]  
专题沈阳自动化研究所_机器人学研究室
推荐引用方式
GB/T 7714		 Yang TW,Xu WL,Han JD. Dynamic Compensation Control of Flexible Macro-Micro Manipulator Systems[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2010,18(1):143-151.
APA Yang TW,Xu WL,&Han JD.(2010).Dynamic Compensation Control of Flexible Macro-Micro Manipulator Systems.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,18(1),143-151.
MLA Yang TW,et al."Dynamic Compensation Control of Flexible Macro-Micro Manipulator Systems".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 18.1(2010):143-151.

入库方式： OAI收割

来源：沈阳自动化研究所

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