期刊
ADVANCES IN MECHANICAL ENGINEERING
卷 9, 期 2, 页码 -出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/1687814017694104
关键词
Flexible robotic arm; nonlinear dynamics; decomposed dynamic control; optimization; sliding mode control
资金
- National Natural Science Foundation of China [11202153]
- Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry [2013-693]
This article presents a nonlinear dynamic model of a flexible robotic arm considering nonlinearity from elastic deformation and the effect of gravity. The dynamic model can be decomposed into separate flexible and rigid subsystems. A decomposed dynamic control, including flexible and rigid dynamic controls, is proposed for the controller of the flexible robotic arm. Optimization is used in this flexible dynamic control to obtain the desired trajectory and can deal offline with strong nonlinearity, but it is excessively dependent on the accuracy of the model, so it is not robust enough and has poor disturbance-rejection capabilities. The rigid dynamic control, by contrast, is expected to be sufficiently robust to compensate for uncertain factors. Therefore, a hybrid sliding mode control is proposed to track the desired trajectory and further suppress residual vibration. Additionally, the actual flexible modes are estimated to accurately calculate the component of the proposed controller. This study addresses the theoretical derivation and experimental verification of the proposed controller.
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