Trajectory Tracking Control in a Single Flexible-Link Robot using Finite Differences and Sliding Modes
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| Format: | Artículo científico |
| Langue: | en |
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Universidad Nacional Autónoma de México
2015
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| _version_ | 1876458720374816768 |
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| author | J.F. Peza-Solís |
| author_facet | J.F. Peza-Solís |
| contents | Trajectory Tracking Control in a Single Flexible-Link Robot using Finite Differences and Sliding Modes J.F. Peza-Solís G. Silva-Navarro N. R. Castro-Linares Ingeniería link Flexible Robotics Finite Differences Trajectory Tracking In this article it is shown how the end effector position of a single flexible-link robot can be directly controlled by the angular position of its joint, so that, trajectory tracking in the end effector of the robot is possible by properly designing a reference trajectory for the joint angle. In order to ensure trajectory tracking of the angular position of the robot joint, a Sliding Modes Control (SMC) scheme is employed once the desired trajectory for the robot joint has been designed. SMC scheme is chos en because its known robust performance under dynamical disturbances and modeling inaccuracies. Then, the angular position of the robot joint plays the role of a virtual control input for the flexible dynamics of the link. Both, regulation and trajectory tracking of the end effector position are achieved by using the scheme devised in this work. The Finite Differences Method (FDM) is employed to simulate the closed loop performance of the flexible - link robot, because its dynamics are assumed to be governed by the undamped Partial Differential Equation (PDE) of the Euler - Bernoulli Beam (EBB). 2015 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47436895006 en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.1 Vol.13 |
| format | Artículo científico |
| id | redalyc_47436895006 |
| institution | Redalyc |
| language | en |
| publishDate | 2015 |
| publisher | Universidad Nacional Autónoma de México |
| spellingShingle | Trajectory Tracking Control in a Single Flexible-Link Robot using Finite Differences and Sliding Modes J.F. Peza-Solís Ingeniería link Flexible Robotics Finite Differences Trajectory Tracking Trajectory Tracking Control in a Single Flexible-Link Robot using Finite Differences and Sliding Modes J.F. Peza-Solís G. Silva-Navarro N. R. Castro-Linares Ingeniería link Flexible Robotics Finite Differences Trajectory Tracking In this article it is shown how the end effector position of a single flexible-link robot can be directly controlled by the angular position of its joint, so that, trajectory tracking in the end effector of the robot is possible by properly designing a reference trajectory for the joint angle. In order to ensure trajectory tracking of the angular position of the robot joint, a Sliding Modes Control (SMC) scheme is employed once the desired trajectory for the robot joint has been designed. SMC scheme is chos en because its known robust performance under dynamical disturbances and modeling inaccuracies. Then, the angular position of the robot joint plays the role of a virtual control input for the flexible dynamics of the link. Both, regulation and trajectory tracking of the end effector position are achieved by using the scheme devised in this work. The Finite Differences Method (FDM) is employed to simulate the closed loop performance of the flexible - link robot, because its dynamics are assumed to be governed by the undamped Partial Differential Equation (PDE) of the Euler - Bernoulli Beam (EBB). 2015 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47436895006 en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.1 Vol.13 |
| title | Trajectory Tracking Control in a Single Flexible-Link Robot using Finite Differences and Sliding Modes |
| topic | Ingeniería link Flexible Robotics Finite Differences Trajectory Tracking |
| url | https://www.redalyc.org/articulo.oa?id=47436895006 |