New control methods are developed for the unconstrained motion and constrained force and motion control of flexible robots. The dynamic equations of the flexible robots are partitioned as pseudostatic equilibrium equations and deviations from them. The pseudostatic equilibrium considered here is defined as a hypothetical state where the tip point variables have their desired values while the modal variables are instantaneously constant. Then, the control torques for the pseudostatic equilibrium and for the stabilization of the deviation equations are formed in terms of tip point coordinates, modal variables and contact force components. The performances of the proposed methods are illustrated on a planar two-link robot and on a spatial three-link robot. Unmodeled dynamics and measurement noises are also taken into consideration. Performance of the proposed motion control method is compared with the computed torque method.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/3/12606011/index.pdf |
| Date | 01 February 2005 |
| Creators | Kilicaslan, Sinan |
| Contributors | Ider, S Kemal |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | Ph.D. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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