U-014
Stable Inversion Control for Flexible-Link Cooperating Manipulators: A Case Study
of a Four-bar Linkage Mechanism
Author: Qiao Sun
Affiliation: Department of Mechanical and Manufacturing Engineering, The University
of Calgary
Abstract
In this paper, we consider the nonlinear inversion control for flexible-link cooperating
manipulators, also known as the inverse dynamics control or the computed torque method
for rigid manipulators. Difficulties in applying this method to the control of flexible
link manipulators are due to the fact that the inverse dynamics system is generally
unstable. As such, bounded actuator torques cannot be guaranteed. For multiple manipulators
handling a common object, there are more actuators than the degrees of freedom of
the system. We investigate possibilities of using the actuation redundancy to stabilize
the inverse dynamics system. Consequently, nonlinear inversion control can be applied
for the object trajectory tracking.
Qiao Sun, Ph.D
Assistant Professor
Department of Mechanical and Manufacturing Engineering
The University of Calgary
2500 University Dr. N.W., Calgary, Canada T2N 1N4
Tel: +1 (403)220-4141
Fax: +1 (403)282-8406
qsun@enme.ucalgary.ca