Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

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

Tip Position Control of Flexible Robot Manipulators Using 2-DOF Controller with Sliding Mode

슬라이딩 모드를 가진 2-자유도 제어기를 이용한 유연한 로봇 조작기의 끝점 위치 제어

  • Published : 2000.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

The position control accuracy of a robot arm is significantly deteriorated when a long arm robot is operated at a high speed. In this case, the robot arm must be modeled as a flexible structure, not a rigid one, and its control system should be designed with its elastic modes taken into account. In this paper, the tip position control scheme of a one-link flexible manipulator using 2-DOF controller with sliding mode is presented. The robot consists of a flexible arm manufactured with a thin aluminium plate, an AC servo motor with a harmonic drive for speed reduction, an optical encoder and a CCD camera as a vision sensor for on-line measuring the tip deflection of the flexible m. Simulation and experimental results of the flexible manipulator with a proposed controller are provided to show the effectiveness of the controller.

Keywords

References

  1. R. H. Cannon, and E. Schmitz, 'Initial experiments on end-point control of a flexible one-link robot,' Intl. J. of Robotics Research, vol. 3, no. 3, pp. 62-75, Fall, 1984 https://doi.org/10.1177/027836498400300303
  2. 하영균, 김승호,이상조, 박영필, '유연한 단일링크 로봇 조작기의 최적귀환제어', 기계학회논문집, 11권, 6호, pp. 923-934, 1987
  3. K. S. Yeung and Y. P. Chen, 'Sliding-mode controller design of a single-link flexible manipulator under gravity,' J. of Control, vol. 52, no. 1, pp. 101-117, 1990
  4. 신효필, 윤여산, 윤지섭, 강이석, '유연한 로봇팔의 진동제어', '96 자동제어 학술회의 논문집, pp. 229-232, 1996
  5. D. S. Kwon and W. J. Book, 'A time domain inverse dynamics tracking control of a single-link flexible manipulator,' Trans. ASME J. of Dyn. Sys. Meas. and Con., vol. 116, pp. 193-200, 1994
  6. S. Yurkovich and F. E. Pacheco, 'On cotroller tuning for a flexible-link manipulator with varying payload,' J. of Robotic Systems, vol. 6, no. 3, pp. 233-254, 1989 https://doi.org/10.1002/rob.4620060304
  7. S. Yurkovich and A. P. Tzes, 'Experiments in identification and control of flexible-link manipulators,' IEEE Control Systems Magazine, pp. 41-47, Feb. 1990 https://doi.org/10.1109/37.45793
  8. 박영욱, 김재원, 박영필, '유연한 단일링크 조작기의 적응진동제어', 한국소음진동학회지, 제5권, 제3호, pp. 385-394, 1995
  9. 신효필, 정영무, 강이석, '적응 입력다듬기를 이용한 유연한 조작기의 진동제어', 제어.자동화.시스템공학 논문지, 제5권 제2호, pp. 220-227, 1999
  10. N. C. Singer and W. P. Seering, 'Preshaping command inputs to reduce system vibration,' Trans. ASME J. of Dyn. Sys. Meas. and Con., vol. 112, pp. 76-82, May, 1990
  11. 신효필, 이종광, 강이석, '비전 센서를 이용한 로봇 팔의 끝점 위치 측정', 제어.자동화.시스템공학 논문 투고중
  12. H. Elmali and N. Olgac, 'Sliding mode control with perturbation estimation (SMCPE) : A new approach,' Int. J. of Control, vol. 56, no. 4, pp. 923-941, 1992
  13. Weibing Gao and James C. Hung, 'Variable structure control of nonlinear systems : a new approach,' IEEE Trans on Industrial Electronics, vol. 40, no. 1, pp. 45-55, 1993 https://doi.org/10.1109/41.184820
  14. K. Youcef-Toumi and S. T. Wu, 'Input/output linearization using time delay control,' Trans. ASME J. Dyn. Sys. Meas. and Con., vol. 114, pp. 10-19, 1992