The singular perturbation control of a two-flexible-link robot

Abstract

The control of flexible robots is discussed. The flexible manipulator dynamic is derived on the basis of a finite-element type model. Nonlinear feedback control can be used with flexible arms. At most, the number of variables to be exactly linearized must be equal to the number of actuators. To overcome this drawback the singular perturbation strategy is used to give classic composite control. The slow subsystem can be shown to be the equivalent rigid-link robot. The computed torque method for slow control is selected. The fast control is designed to stabilize the fast subsystem around the equilibrium trajectory set up by the slow subsystem under the effect of the slow control. Results of this control method with one-and two-flexible-link robots are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>