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Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/480

Title: Singular perturbation approach to trajectory tracking of flexible robot with joint elasticity
Authors: Subudhi, B
Morris, A S
Issue Date: 2003
Publisher: Taylor and Francis
Citation: International Journal of Systems Science, Vol 34, No 3, 20 February, p 167–179
Abstract: The control problem of a robot manipulator with flexures both in the links and joints was investigated using the singular perturbation technique. Owing to the combined effects of the link and joint flexibilities, the dynamics of this type of manipulator become more complex and under-actuated leading to a challenging control task. The singular perturbation being a successful technique for solving control problems with under-actuation was exploited to obtain simpler subsystems with two-time-scale separation,thus enabling easier design of subcontrollers. Furthermore, simultaneous tracking and suppression of vibration of the link and joint of the manipulator is possible by application of the composite controller, i.e. the superposition of both subcontrol actions. In the first instance, the design of a composite controller was based on a computed torque control for slow dynamics and linear-quadratic fast control. Later, to obtain an improved control performance under model uncertainty, th...
Description: Copyright for the article belongs to the Taylor and Francis.
URI: http://hdl.handle.net/2080/480
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