A study for CP control of two-link flexible manipulator using subspace control

Kenichiro Matsuzaki, Takahiro Kondou, Nobuyuki Sowa, Takayuki Shiota, Jun Shinozaki, Motomichi Sonobe

Research output: Contribution to journalArticle

Abstract

CP control of a two-link planar flexible manipulator is studied. The method to derive the optimal trajectory of the state variables and the computed torque wherein the tip position of the manipulator follows an arbitrary continuous path accurately is proposed. The exact trajectory of the state variables for an arbitrary tip position path can not be obtained because a flexible manipulator is a redundant and underactuated system. The dimension reduction feature of subspace control is used. In subspace control, the state space is separated into the control subspace and the complementary subspace. The proposed method consists of the calculation of the approximate trajectory of the state variables using the control subspace and the correction of the trajectory using the complementary subspace. Also, the availability of this method is confirmed by numerical simulation. The tip position follows desired trajectory accurately in both cases of the linear and circular desired trajectory.

Original languageEnglish
Pages (from-to)1397-1404
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume75
Issue number753
DOIs
Publication statusPublished - Jan 1 2009

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Flexible manipulators
Trajectories
Manipulators
Torque
Availability
Computer simulation

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Cite this

A study for CP control of two-link flexible manipulator using subspace control. / Matsuzaki, Kenichiro; Kondou, Takahiro; Sowa, Nobuyuki; Shiota, Takayuki; Shinozaki, Jun; Sonobe, Motomichi.

In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 75, No. 753, 01.01.2009, p. 1397-1404.

Research output: Contribution to journalArticle

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