Noncolocated µ-Tip Trajectory Tracking of Redundantly-Actuated Flexible Robotic Manipulators

This paper presents a robust passivity-based payload trajectory tracking control method for redundantly-actuated flexible robotic manipulators. The proposed approach is based on µ-tip control, which involves the use of a modified system output to ensure a passive input-output mapping. This work dist...

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Bibliographic Details
Published in2023 American Control Conference (ACC) pp. 4671 - 4676
Main Authors Lyman, Richard J., Kwan. Cheah, Sze, Caverly, Ryan J.
Format Conference Proceeding
LanguageEnglish
Published American Automatic Control Council 31.05.2023
Subjects
Kinematics
Manipulator dynamics
Parallel robots
Payloads
Task analysis
Testing
Trajectory tracking
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Summary:This paper presents a robust passivity-based payload trajectory tracking control method for redundantly-actuated flexible robotic manipulators. The proposed approach is based on µ-tip control, which involves the use of a modified system output to ensure a passive input-output mapping. This work distinguishes itself from prior implementations of µ-tip control with flexible manipulators by demonstrating the generality with which redundant actuation can be accounted for. In particular, it is shown that prior load-sharing-parameter-based approaches are a special case of a more general kinematic constraint that is to be enforced to ensure passivity. Numerical results with an overactuated cable-driven parallel robot demonstrate the performance of the proposed µ-tip control method.
ISSN:2378-5861
DOI:10.23919/ACC55779.2023.10156638