제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Stabilization and trajectory control of the flexible manipulator with time-varying arm length

  • Park, Chang-Yong (Dep. of Mechanical Systems Engineering, College of Engineering, Osaka Prefecture University) ;
  • Ono, Toshiro (Dep. of Mechanical Systems Engineering, College of Engineering, Osaka Prefecture University) ;
  • Sung, Yulwan (Dep. of Computer and Systems Science, College of Engineering)
  • Published : 1996.10.01
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Abstract

This paper deals with the flexible manipulator with rotational and translational degrees of freedom, which has an arm of time-varying length with the prismatic joint. The tracking control problem of the flexible manipulator is considered. First we design the controller of the 2-type robust servo system based on the finite horizon optimal control theory for the trajectory planned as a discontinuous velocity. Next, to reduce the tracking error, we use the method of the dynamic programming and of modifying the reference trajectory in time coordinate. The simulation results show that the dynamic modeling is adequate and that the asymptotic stabilization of the flexible manipulator is preserved in spite of nonlinear terms. The PTP control error has been reduced to zero completely, and the trajectory tracking errors are reduced sufficiently by the proposed control method.

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