[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.21289/KSIC.2022.25.2.161

A Study on a Robust Motion Control of Flexible Manipulator with Five Joint for Untact Working in Filed Work-site

Kim, Hee-Jin (Dept. of Mechanical Engineering., Graduate School, Kyungnam University)
Kim, Seong-Il (Dept. of Mechanical Engineering., Graduate School, Kyungnam University)
Jang, Gi-Won (Dept. of Mechanical Engineering., Graduate School, Kyungnam University)
Han, Sung-Hyun (Dept. of Mechanical Engineering., Kyungnam Univ.)

Publication Information

Journal of the Korean Society of Industry Convergence / v.25, no.2_1, 2022 , pp. 161-168 More about this Journal

Abstract

This study proposed a new approach to impliment a robusut control of comsumer-friendly flexible manipulator with five joint for untact working in filed work-site. The output redefinition approach was used to overcome the non minimum phase characteristic of the system. The new output is defined so that the zero dynamics related to this output are stable. The control strategy is based on an computed torque method which is applicable to a class of time-invariamt phase linear systems whose uncertainties appear in output loop stable. The controller is composed of a stabilizing joint controller and an output redefinition tracking controller. Experimental results are also presented to verify the effectiveness of the proposed control scheme.

Keywords

Robust Control; Flexible Manipulator; Untact Working; Remote Control;

Citations & Related Records

Reference

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