CONTROL OF FLEXIBLE ROBOT USING VISION SENSOR MEASUREMENTS

摘要

The control of lightweight flexible robot using delayed measurements (i.e. vision sensor measurements) and moving along predefined paths is the focus of this work. The flexible robot dynamics is derived on the basis of a Lagrangian-assumed modes method. Noised and delayed tip deflection vision measurements are used beside the base tracking position for state variables estimation process. In order to generate the required control inputs a special state estimation approach is proposed to overcome noise and time delay and noise problems in the measurements. Two state estimators are suggested for each of the measurements, and the states resulted from these two estimators are combined in order for the end effector to follow the desired response. The one link flexible arm prototype dynamic model is chosen for developing a case study. Extensive simulation results are illustrated and discussed.