Point-to-point virtual model control of a flexible joint robotic manipulator using trajectories of motion

摘要

This paper considers the use of trajectories of motion as a means of addressing the problem of unwanted oscillations and improving steady-state accuracy in the point-to-point motion of a flexible joint robotic manipulator using a novel third-order Poynting–Thomson virtual model control. A differentially flat model of the manipulator was exploited for classical controller design. The trajectories of motion were generated through a Newton interpolation procedure. The conditions for motion from rest to rest were derived and used to generate the trajectories required to steer the manipulator from one static point to another. Simulation and laboratory experiments confirmed that with the use of the trajectories of motion, rest-to-rest displacement is achieved without the unwanted swings about the final position. A marginal improvement in trajectory tracking performance was also verified by comparing it with the classical controller and state feedback controller. Moreover, the new controller showed better external disturbance rejection than the classical flat controller.