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Control of a rigid manipulator mounted on a compliant base

Published online by Cambridge University Press:  11 March 2005

H. Bassan ,
H. A. Talebi ,
R. V. Patel  and
M. Moallem
H. Bassan
Affiliation:
Department of Electrical & Computer Engineering, University of Western Ontario, London, Ontario (Canada), N6A 5B9. E-mail: hsbassan@uwo.ca, rajni@eng.uwo.ca, mmoallem@engga.uwo.ca
H. A. Talebi
Affiliation:
Department of Electrical Engineering, AmirKabir University of Technology, Tehran (Iran) 15914. E-mail: alit@cic.aku.ac.ir
R. V. Patel
Affiliation:
Department of Electrical & Computer Engineering, University of Western Ontario, London, Ontario (Canada), N6A 5B9. E-mail: hsbassan@uwo.ca, rajni@eng.uwo.ca, mmoallem@engga.uwo.ca
M. Moallem
Affiliation:
Department of Electrical & Computer Engineering, University of Western Ontario, London, Ontario (Canada), N6A 5B9. E-mail: hsbassan@uwo.ca, rajni@eng.uwo.ca, mmoallem@engga.uwo.ca
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Abstract

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Structural flexibility is an inherent characteristic of a class of macro-micro manipulators consisting of a rigid micro manipulator mounted on a long-reach (flexible) macro manipulator. Vibrations caused by flexibility make it difficult to achieve accurate control of the end-point of the micro manipulator. In this paper, we develop a control strategy that can be applied to such a system. An experimental test-bed has been developed in which a 6 DOF PUMA 560 manipulator is mounted on a compliant platform. The control strategy consists of a rigid body inverse dynamics controller together with a neural network based strategy for damping out the oscillations due to the flexible base. Experimental results obtained from the test-bed are presented to show the effectiveness of the proposed control scheme.

Keywords

Vibration controlReal-timeNeural network based controlFlexible systems
Type
Research Article
Information
Robotica , Volume 23 , Issue 2 , March 2005 , pp. 197 - 206
Copyright
© 2005 Cambridge University Press