Peter Staufer, Hubert Gattringer,
"Passivity Based Tracking Control of a Flexible Link Robot"
, in Hubert Gattringer, Johannes Gerstmayr: ACCM Workshop on Multibody System Dynamics, Robotics and Control, Springer Verlag, Seite(n) 95-112, 12-2013, ISBN: 978-3-7091-1288-5
Passivity Based Tracking Control of a Flexible Link Robot
Sprache des Titels:
ACCM Workshop on Multibody System Dynamics, Robotics and Control
An effective modelling of highly complex nonlinear mechanical systems and a suitable tracking control for very fast trajectories are the main objectives in this contribution. The lightweight, but flexible system under consideration is an articulated robot with two flexible links and three joints. If one is taking advantage of the physical nature of the nonlinear plant, a necessary and sufficient requirement is an exact mathematical model of the system. Here a synthetical method, the Projection Equation is used. It turns out that for a model based control design a reduced model is sufficient. Since we deal with small elastic deformations, the beam elasticities are approximated with linear springs and dampers, a so called lumped element model. Under the terms of these preparations a common flatness based approach can be applied for the feedforward and a passivity based control (PBC) technique of interconnection and damping assignment (IDA-PBC) is proposed. In addition, the contribution deals with acceleration and angular rate measurements, to compute all system states used in the feedback loop. Finally, the proposed strategies are validated by real measurements, gathered from a fast straight line in space and a ball catching scenario.