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2019 | OriginalPaper | Chapter

Trajectory Tracking Control of a Very Flexible Robot Using a Feedback Linearization Controller and a Nonlinear Observer

Authors : Fatemeh Ansarieshlaghi, Peter Eberhard

Published in: ROMANSY 22 – Robot Design, Dynamics and Control

Publisher: Springer International Publishing

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Abstract

Flexible robots can be modeled as underactuated multibody systems since they generally have less control inputs than degrees of freedom for rigid body motion and deformation. The flexibilities must be taken into account in the control design. In order to obtain high performance in the end-effector trajectory tracking, an accurate and efficient nonlinear controller is required. In this paper, a nonlinear feedback controller based on the feedback linearization approach using all the states of the system is designed and carefully tested on a very flexible parallel lambda robot. The simulation and experimental results show that the end-effector tracks a trajectory with higher accuracy compared to previous works.

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Metadata
Title
Trajectory Tracking Control of a Very Flexible Robot Using a Feedback Linearization Controller and a Nonlinear Observer
Authors
Fatemeh Ansarieshlaghi
Peter Eberhard
Copyright Year
2019
DOI
https://doi.org/10.1007/978-3-319-78963-7_5