1. A Singular Perturbation Approach to Control of Flexible Arms in Compliant Motion
- Author
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Bruno Siciliano, Luigi Villani, L. Menini, L. Zaccarian, C. Abdallah, Siciliano, Bruno, and Villani, Luigi
- Subjects
Surface (mathematics) ,Singular perturbation ,Planar ,Control theory ,Position (vector) ,Computer science ,Dynamics (mechanics) ,Robot ,Action (physics) ,ComputingMethodologies_COMPUTERGRAPHICS ,Contact force - Abstract
The problem of controlling the interaction of a flexible link arm with a compliant environment is considered. The arm’s tip is required to keep contact with a surface by applying a constant force and maintaining a prescribed position or following a desired path on the surface. Using singular perturbation theory, the system is decomposed into a slow subsystem associated with rigid motion and a fast subsystem associated with link flexible dynamics. A parallel force and position control developed for rigid robots is adopted for the slow subsystem, while a fast control action is employed to stabilize the link deflections. Simulation results are presented for a two-link planar arm under gravity in contact with an elastically compliant surface.
- Published
- 2006
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