Impedance control of flexible robot maniplators

摘要

This paper proposes a new impedance control method for multi-link flexible robot manipulators, This method is bassed on an end-effector trajectory tracking control approach. First, the objective of impedance control is converted into tracking a trageted trajectory. The targeted trajectory is generated by a system that is designed to possesse wikth ideal dynamic characteristics in terms of moment of inertia, damping, and stiffness. Then, an ideal manifold is designed to prescribe the desired performanc eof the system in vibration damping and end-effector trajectory tracking. A control law is derived such that the motion of the system would converge and remain to the ideal manifold. Stability of the system is investigated using the Lyapunov theory. Simulatios are carried out to illustrate the effectiveness of the processed impedance control method.