Nonlinear Inverse and Predictive End Point Trajectory Control of Flexible Macro-Micro Manipulators

[+] Author and Article Information
Woosoon Yim

Department of Mechanical Engineering, University of Nevada, Las Vegas, NV 89154

Sahjendra N. Singh

Department of Electrical and Computer Engineering, University of Nevada, Las Vegas, NV 89154

J. Dyn. Sys., Meas., Control 119(3), 412-420 (Sep 01, 1997) (9 pages) doi:10.1115/1.2801273 History: Received September 01, 1994; Revised November 18, 1995; Online December 03, 2007


This paper presents a new approach to end-point trajectory control of flexible macro-micro manipulator based on nonlinear inversion and predictive control techniques. In this approach, precise control of the end-effector trajectory is accomplished by the inverse controller of the rigid micro manipulator, and the predictive controller steers the end point of the flexible macro manipulator with limited elastic oscillation. The predictive control law is obtained by minimizing a quadratic function of the tip tracking error, the elastic deflection, and the input torque of the flexible macro manipulator. The feedback parameters of the predictive controller are chosen such that zero dynamics are asymptotically stable. The combination of the inverse and the predictive controllers accomplishes precise end-effector trajectory tracking and elastic mode stabilization. These results are applied to a planar macro-micro manipulator system consisting of one flexible link and two micro rigid links. Simulation results are presented to show that in the closed-loop system time varying end point trajectory control and elastic mode stabilization are accomplished.

Copyright © 1997 by The American Society of Mechanical Engineers
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