Abstract
In this paper, we investigate the control of a very flexible parallel robot with high accuracy. This robot has two very flexible long links and can be modeled as an underactuated multibody system since it has fewer control inputs than degrees of freedom for rigid body motion and deformation. Therefore, these flexibilities are taken into account in the control design. In order to obtain high performance in the end-effector trajectory tracking, an accurate and efficient nonlinear controller is designed. This nonlinear feedback controller is based on the Lyapunov approach using the measurable states of the system. Then, it is carefully tested on the flexible parallel robot. The simulation and experimental results show that the end-effector tracks desired trajectories with high accuracy. Also, the designed controller is compared to previous works and the results show that the controller can achieve higher tracking performance.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Ansarieshlaghi, F., Eberhard, P.: Design of a nonlinear observer for a very flexible parallel robot. In: Proceedings of the 7th GACM Colloquium on Computational Mechanics for Young Scientists from Academia and Industry, Stuttgart, Germany (2017)
Ansarieshlaghi, F., Eberhard, P.: Trajectory tracking control of a very flexible robot using a feedback linearization controller and a nonlinear observer. In: Proceedings of 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control, Rennes, France (2018)
Ansarieshlaghi, F., Eberhard, P.: Experimental study on a nonlinear observer application for a very flexible parallel robot. Int. J. Dyn. Control (2018). https://doi.org/10.1007/s40435-018-0467-2
Ansarieshlaghi, F., Eberhard, P.: Hybrid force/position control of a very flexible parallel robot manipulator in contact with an environment. In: Proceedings of 16th International Conference on Informatics in Control, Automation and Robotics, Prague, Czech Republic (2019, submitted)
Burkhardt, M., Holzwarth, P., Seifried, R.: Inversion based trajectory tracking control for a parallel kinematic manipulator with flexible links. In: Proceedings of the 11th International Conference on Vibration Problems, Lisbon, Portugal (2013)
Burkhardt, M., Seifried, R., Eberhard, P.: Experimental studies of control concepts for a parallel manipulator with flexible links. In: Proceedings of the 3rd Joint International Conference on Multibody System Dynamics and the 7th Asian Conference on Multibody Dynamics, Busan, Korea (2014)
Fetić, A., Jurić, D., Osmanković, D.: The procedure of a camera calibration using Camera Calibration Toolbox for MATLAB. In: Proceedings of the 35th International Convention MIPRO, Opatija, Croatia (2012)
Kalil, H.K.: Nonlinear Systems, 3rd edn. Prentice-Hall, Upper Saddle River (2002)
Morlock, M., Burkhardt, M., Seifried, R.: Friction compensation, gain scheduling and curvature control for a flexible parallel kinematics robot. In: Proceedings of the: IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany (2015)
Acknowledgements
This research is endorsed by the Cluster of Excellence in Simulation Technology SimTech at the University of Stuttgart and is partially funded by the Landesgraduiertenkolleg Baden-Württemberg. The authors appreciate these discussions.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Eberhard, P., Ansarieshlaghi, F. (2020). Nonlinear Position Control of a Very Flexible Parallel Robot Manipulator. In: Kecskeméthy, A., Geu Flores, F. (eds) Multibody Dynamics 2019. ECCOMAS 2019. Computational Methods in Applied Sciences, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-030-23132-3_19
Download citation
DOI: https://doi.org/10.1007/978-3-030-23132-3_19
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-23131-6
Online ISBN: 978-3-030-23132-3
eBook Packages: EngineeringEngineering (R0)