Integration of model-based and sensor-based control for a two-link flexible robot arm.

摘要

This paper analyzes the experimental results of model-based and sensor-based control strategies for a two-link flexible, planar, robot arm. An off-line optimization determines a minimum time, straight line tip trajectory which stays within the torque constraints of the motors and ends in a quiescent state, i.e. no vibrational transients. An efficient finite-element model is used in the optimization to approximate the flexible arm dynamics. Control schemes testes include an open loop torque profile, a closed loop Proportional-Derivative (PD) joint controller, and a feedforward controller. This last scheme uses the torque profile created from the optimization, along with PD feedback of the joint angles and proportional feedback of the strain gages, to correct for errors in the model. The results show that the best performance is achieved with this feedforward approach. 10 refs., 10 figs.