Research Papers

Trajectory and Vibration Control of a Single-Link Flexible-Joint Manipulator Using a Distributed Higher-Order Differential Feedback Controller

[+] Author and Article Information
John T. Agee

Discipline of Electrical Engineering,
University of KwaZulu-Natal,
Durban 4001, South Africa
e-mail: ageej@ukzn.ac.za

Zafer Bingul

Department of Mechatronics Engineering,
Kocaeli University,
İzmit 41380, Kocaeli, Turkey
e-mail: zaferb@kocaeli.edu.tr

Selcuk Kizir

Department of Mechatronics Engineering,
Kocaeli University,
İzmit 41380, Kocaeli, Turkey
e-mail: selcuk.kizir@kocaeli.edu.tr

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received July 27, 2016; final manuscript received January 19, 2017; published online May 24, 2017. Assoc. Editor: Dumitru I. Caruntu.

J. Dyn. Sys., Meas., Control 139(8), 081006 (May 24, 2017) (9 pages) Paper No: DS-16-1371; doi: 10.1115/1.4035873 History: Received July 27, 2016; Revised January 19, 2017

The trajectory tracking in the flexible-joint manipulator (FJM) system becomes complicated since the flexibility of the joint of the FJM superimposes vibrations and nonminimum phase characteristics. In this paper, a distributed higher-order differential feedback controller (DHODFC) using the link and joint position measurement was developed to reduce joint vibration in step input response and to improve tracking behavior in reference trajectory tracking control. In contrast to the classical higher-order differential (HOD), the dynamics of the joint and link are considered separately in DHODFC. In order to validate the performance of the DHODFC, step input, trajectory tracking, and disturbance rejection experiments are conducted. In order to illustrate the differences between classical HOD and DHODFC, the performance of these controllers is compared based on tracking errors and energy of control signal in the tracking experiments and fundamental dynamic characteristics in the step response experiments. DHODFC produces better tracking errors with almost same control effort in the reference tracking experiments and a faster settling time, less or no overshoot, and higher robustness in the step input experiments. Dynamic behavior of DHODFC is examined in continuous and discontinues inputs. The experimental results showed that the DHODFC is successful in the elimination of the nonminimum phase dynamics, reducing overshoots in the tracking of such discontinuous input trajectories as step and square waveforms and the rapid damping of joint vibrations.

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Fig. 2

The single-link FJM

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Fig. 1

FJM experimental setup

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Fig. 3

A block diagram presentation of the classical HODFC implementation

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Fig. 4

A block diagram presentation of the distributed HODC implementation

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Fig. 5

Step input performances of the classical and distributed HODFC

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Fig. 6

Square-wave tracking trajectory tracking performances of the classical and distributed HODFC

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Fig. 7

Kane trajectory tracking performances of the classical and distributed HODFC

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Fig. 8

Sine trajectory tracking performances of the classical and distributed HODFC

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Fig. 9

Disturbance rejection performances of the classical and distributed HODFC—normal link

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Fig. 10

Disturbance rejection performances of the classical and distributed HODFC—long link




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