Shear force feedback control of flexible robot arms

For flexible robots with rotational joints it has been shown previously by Luo (1993), that direct strain feedback can damp out vibrations very satisfactorily. In this paper, a simple sensor-based output feedback control law, called shear force feedback, is newly proposed to control vibrations arisi...

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Bibliographic Details
Published inIEEE transactions on robotics and automation Vol. 11; no. 5; pp. 760 - 765
Main Authors Zheng-Hua Luo, Kitamura, N., Bao-Zhu Guo
Format Journal Article
LanguageEnglish
Published New York, NY IEEE 01.10.1995
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Applied sciences
Capacitive sensors
Computer science; control theory; systems
Control theory. Systems
Exact sciences and technology
Force control
Force feedback
Manipulators
Output feedback
Robot control
Robot sensing systems
Robotics
Robots
Sensors
Stability
Trajectory
Vibration control
Vibration damping
Shear
Feedback
Control systems
Force control
Flexibility
Robotics
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Summary:For flexible robots with rotational joints it has been shown previously by Luo (1993), that direct strain feedback can damp out vibrations very satisfactorily. In this paper, a simple sensor-based output feedback control law, called shear force feedback, is newly proposed to control vibrations arising from structural flexibility of robots of Cartesian or SCARA types. Closed-loop exponential stability of such shear force feedback system is proved. Experimental results on set point control and trajectory tracking control are reported. It is found that the simple PI+shear force feedback can yield good performance for both robot motion and vibration suppression.< >
ISSN:1042-296X
2374-958X
DOI:10.1109/70.466607