Articles
| Open Access | MODELING AND IMPLEMENTATION OF FEED-FORWARD CONTROL SCHEMES FOR FLEXIBLE ROBOTIC SYSTEMS
Hafiz Jamal , Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai, Johor, MalaysiaAbstract
The performance of flexible robotic systems, particularly robotic manipulators, is often compromised by their inherent elasticity and vibration dynamics. To address these challenges, this study explores the modeling and implementation of feed-forward control schemes to enhance the accuracy and efficiency of flexible robotic systems. The research develops a dynamic model of a flexible manipulator, incorporating both the rigid-body and flexible deformations, and then applies feed-forward control strategies to mitigate the effects of flexibility-induced errors. By predicting and compensating for these errors before they occur, feed-forward control can improve the system's response time and reduce vibration, resulting in smoother and more precise manipulations. This work includes the design of control algorithms, their implementation in a robotic system, and experimental validation. The results demonstrate significant improvements in the performance of the flexible manipulator, highlighting the effectiveness of feed-forward control in enhancing the precision of such systems. The findings provide insights into the practical application of feed-forward control schemes, offering a promising approach for future developments in flexible robotic systems.
Keywords
Feed-Forward Control, Flexible Robot Manipulators, Robotic Systems
References
D.M. Aspinwall. 1980. Acceleration profiles for minimising residual response. Transactions of ASME: Journal of Dynamic Systems, Measurement and Control, vol. 102 (1), pp. 3–6.
F. Khorrami, S. Jain, and A. Tzes. 1994. Experiments on rigid body-based controllers with input preshaping for a two-link flexible manipulator. IEEE Transactions on Robotics and Automation, vol. 10(1), pp. 55–65.
H. Moulin and E. Bayo. 1991. On the accuracy of end-point trajectory tracking for flexible arms by non-causal inverse dynamic solution. Transactions of ASME: Journal of Dynamic Systems, Measurement and Control, vol. 113, pp. 320-324.
J.C. Swigert. 1980. Shaped torque techniques. Journal of Guidance and Control, vol. 3(5), pp. 460-467.
Jinjun Shan, Hong-Tao Liu, Dong Sun. 2004. Modified input shaping for a rotating single link flexible manipulator. Journal of Sound and Vibration, vol. 285, pp. 187-207.
M.O. Tokhi, and H. Poerwanto. 1996. Control of vibration of flexible manipulators using filtered command inputs. Proceedings of international congress on sound and vibration, St. Petersburg, Russia, pp. 1019–1026.
N.C. Singer and W.P. Seering. 1990. Preshaping command inputs to reduce system vibration. Transactions of ASME: Journal of Dynamic Systems, Measurement and Control, vol. 112(1), pp. 76-82.
P.H. Meckl and W.P. Seering. 1990. Experimental evaluation of shaped inputs to reduce vibration of a cartesian robot. Transactions of ASME: Journal of Dynamic Systems, Measurement and Control, vol. 112(6), pp. 159-165.
Article Statistics
Copyright License
Copyright (c) 2024 Hafiz Jamal
This work is licensed under a Creative Commons Attribution 4.0 International License.
Authors retain the copyright of their manuscripts, and all Open Access articles are disseminated under the terms of the Creative Commons Attribution License 4.0 (CC-BY), which licenses unrestricted use, distribution, and reproduction in any medium, provided that the original work is appropriately cited. The use of general descriptive names, trade names, trademarks, and so forth in this publication, even if not specifically identified, does not imply that these names are not protected by the relevant laws and regulations.