ICRA 2011 Paper Abstract


Paper TuA1-InteracInterac.2

Yin, Haibin (hokaido university), Kobayashi, Yukinori (Hokkaido University), Hoshino, Yohei (Hokkaido University), Emaru, Takanori (Hokkaido University)

Hybrid Sliding Mode Control with Optimization for Flexible Manipulator under Fast Motion

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Motion Control of Manipulators, Flexible Arms, Robust/Adaptive Control of Robotic Systems


Abstract—The modeling and vibration analysis of a flexible manipulator considering the nonlinearity and effect from the gravity imply a singular problem. In order to overcome the drawback, the dynamic equation we decomposed into two subsystems, including flexible dynamic subsystem and rigid dynamic subsystem. A combined feed-forward and feedback control scheme is presented to design the controller of flexible manipulator. In the combined control, the optimization is applied to obtain the desired trajectory based on the flexible dynamic subsystem. As we know, the optimization is dependent on the accuracy of model but there are inevitably errors of model and external disturbances. The feedback control is expected with high robustness and fast convergence to overcome the problem. In order to improve the performance of control, a hybrid sliding mode control (HySMC) is proposed to track the desired trajectory and further suppress the residual vibration. This paper presents the theoretical derivation and experimental verification of the proposed controller.



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