Inverse Dynamics-based Control with Parameter Adaptation for Tip-tracking of Flexible Link Robot

摘要

Compare to rigid manipulators, flexible link manipulators (FLM) have the advantage of being lightweight and low energy consumption, which makes them have increasing demands across the industrial and aerospace world. Inverse dynamics-based control has been applied widely in rigid manipulators. However, the natural undamped behavior of FLM's internal dynamics hinders the direct use of inverse dynamics-based control. In this paper, an inverse dynamics-based control with parameter adaptation has been proposed, which is designed according to a redefined dynamic model with uncertainties for achieving good tip-tracking with good vibration attenuation as well. The proposed controller consists of model compensation based on inverse dynamics, feedback control, and internal control. The stability of the closed-loop system has been proved through Lyapunov theory. The experimental results indicate best performances in both slow and fast point-to-point motion with the proposed control.