Control of high-speed, light-weight robotic
manipulators is a challenge because of their special
dynamic characteristics. In this work, a two-stage
control algorithm for the position control of flexible
manipulators is proposed. First, the more complex,
flexible robot system is replaced by a simplified
hypothetical rigid body system (HRRA) with off-line
trajectory planning. This reduces the complexity of the
controller design for the flexible robotic arm. A
parameter-optimization approach was adopted to minimize
the difference between these two models in this stage.
Also, a comparison of computational efficiency is made
among the methods of calculus-of-variations, dynamic-programming,
and the proposed parameter-optimization. At
the second stage, simple linear state feedback
controllers, based on the simplified hypothetical rigid
body model, are proposed to control the actual robotic
system. With the feedback gains selected properly by the
pole-placement and linear quadratic methods, the results
show satisfactory achievement of the motion objectives.
The algorithm is implemented for a two-link
rigid/flexible robotic arm, and the results indicate that
the procedure is capable of providing effective control
with much simpler computational requirements than those
of procedures published previously. / Graduation date: 1992
| Identifer | oai:union.ndltd.org:ORGSU/oai:ir.library.oregonstate.edu:1957/37233 |
| Date | 01 April 1992 |
| Creators | Yeh, Chun-tien |
| Contributors | Smith, Charles E. |
| Source Sets | Oregon State University |
| Language | en_US |
| Detected Language | English |
| Type | Thesis/Dissertation |
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