Hostname: page-component-cd9895bd7-fscjk Total loading time: 0 Render date: 2024-12-23T12:26:58.072Z Has data issue: false hasContentIssue false
  • English
  • Français

A force observation method for tracking control of flexible-link manipulators

Published online by Cambridge University Press:  30 November 2012

S. Farokh Atashzar ,
M. Shahbazi ,
H. A. Talebi  and
F. Towhidkhah
S. Farokh Atashzar
Affiliation:
Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran
M. Shahbazi
Affiliation:
Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran
H. A. Talebi*
Affiliation:
Department of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran
F. Towhidkhah
Affiliation:
Department of Biomedical Engineering, Amirkabir University of Technology, Tehran, Iran
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, a composite controller is proposed for single-link flexible manipulators exposed to external tip force disturbances. In the proposed scheme, the extended Kalman filter is utilized to observe the environmental forces and the Lyapunov redesign robust controller is applied to control the destabilizing effect of the observation errors in noisy situations. The observed force can be utilized in different applications (such as tele-surgical robotics) in order to eliminate the necessity of additional force sensors. This fact is important for structural miniaturization and cost reduction. The main contributions of this paper are (1) proposing a disturbance observation technique for in-contact flexible link manipulators (note that the challenge of Jacobian singularity is studied as a possible diverging factor of the observation) and (2) proposing the composite robust controller to eliminate the destabilizing effect of estimation errors. The advantages of the proposed control scheme over the conventional techniques are analyzed. Simulation results are given for a single-link flexible manipulator to illustrate the effectiveness of the composite control technique and experimental results are given to validate the performance of the observation method.

Keywords

Flexible link manipulatorForce observerExtended Kalman filterNon-minimum phase systems
Type
Articles
Information
Robotica , Volume 31 , Issue 4 , July 2013 , pp. 669 - 677
Copyright
Copyright © Cambridge University Press 2012 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Talebi, H. A., Patel, R. V. and Khorasani, K., Control of Flexible-Link Manipulators Using Neural Networks, Lecture Notes in Control and Information Sciences, No. 261 (Springer, Berlin, 2001).Google Scholar
2.Gümüşelal, L. and Özmen, N. G., “Modelling and control of manipulators with flexible links working on land and underwater environments,” Robotica 29 (3), 461–470 (2011).CrossRefGoogle Scholar
3.Tavakoli, M., Aziminejad, A., Patel, R. V. and Moallem, M., “Methods and mechanisms for contact feedback in robot-assisted minimally invasive environment,” Surg. Endosc. Other Interv. Tech. 10 (20), 1570–1579 (2006).CrossRefGoogle Scholar
4.Tavakoli, M. and Howe, R. D., “The Effect of Joint Elasticity on Bilateral Teleoperation,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA (2007) pp. 1618–1623.Google Scholar
5.Tavakoli, M. and Howe, R. D., “Haptic Implications of Tool Flexibility in Surgical Teleoperation,” Proceedings of the 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator System, Reno, Nevada, USA (2008) pp. 377–378.Google Scholar
6.Tavakoli, M. and Howe, R. D., “Haptic Effects of Surgical Teleoperator Flexibility,” Int. J. Robot. Res. (Special Issue on Medical Robotics) 28 (10), 1289–1302 (2009).CrossRefGoogle Scholar
7.Yang, T. W., Xu, W. L. and Han, J. Da., “Dynamic compensation control of flexible macro-micro manipulator systems,” IEEE Trans. Control Syst. Technol. 18 (1), 143–151 (2010).CrossRefGoogle Scholar
8.Moallem, M., Patel, R. V. and Khorasani, K., “An inverse dynamics control strategy for tip position tracking of flexible multi-link manipulators,” J. Robot. Syst. 14 (9), 649–658 (1997).3.0.CO;2-L>CrossRefGoogle Scholar
9.Talebi, H. A., Patel, R. V. and Asmer, H., “Neural network based dynamics modeling of flexible-link manipulators with application to the SSRMS,” J. Robot Syst. 17 (7), 385–401 (2000).3.0.CO;2-3>CrossRefGoogle Scholar
10.Wang, D. and Vidyasagar, M., “Transfer functions for a single-link flexible,” Proc. IEEE Int. Conf. Robot. Automat. 2, 1042–1047 (1989).Google Scholar
11.HashtrudiZaad, K. and Khorasani, K., “Control of Nonminimum Phase Singularly Perturbed Systems with Applications to Flexible-Link Manipulators,” In: Proceedings of the Workshop on Advances in Control and Its Applications (Khalil, H., Chou, J. and Ioannou, P., eds.), Lecture Notes in Control and Information Sciences, 208 (Springer, Berlin, 1995) pp. 234–265.Google Scholar
12.Madhavan, S. K. and Singh, S. N., “Inverse trajectory control and zero dynamics sensitivity of an elastic manipulator,” Int. J. Robot. Autom. 6 (4), 179–191 (1991).Google Scholar
13.Korayem, M. H., Haghighi, R., Korayem, A. H., Nikoobin, A. and Alamdari, A., “Determining maximum load carrying capacity of planar flexible-link robot: Closed-loop approach,” Robotica 28 (7), 959–973 (2010).CrossRefGoogle Scholar
14.Talebi, H. A., Khorasani, K. and Patel, R. V., “Neural network based control scheme for flexible-link manipulators: Simulation and experiments,” Neural Netw. 11 (7–8), 1357–1377 (1998).CrossRefGoogle Scholar
15.Moallem, M., Khorasani, K. and Patel, R. V., “An integral manifold approach for tip position tracking of flexible multilink manipulators,” IEEE Trans. Robot. Autom. 13 (6), 823–837 (1997).CrossRefGoogle Scholar
16.Atashzar, S. F., Talebi, H. A., Shahbazi, M., Towhidkhah, F. and Yazdanpanah, M. J., “Robust trajectory modification for tip position tracking of flexible-link manipulators,” In: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, vol. 226, no. 4 (2012) pp. 523–536.Google Scholar
17.Erfanian, V. and Kabganian, M., “Adaptive trajectory control and dynamic friction compensation for a flexible-link robot,” J. Mech. 26 (2), 205–217 (2010).CrossRefGoogle Scholar
18.Kilicaslan, S., Ozgoren, M. K. and Ider, S. K., “Hybrid force and motion control of robots with flexible links,” Mech. Mach. Theory 45 (1), 91–105 (2010).CrossRefGoogle Scholar
19.Ziaei, K., Ni, L. and Wang, D. W. L., “QFT-based design of force and contact transition controllers for a flexible link manipulator,” Control Eng. Pract. 17 (3), 329–344 (2009).CrossRefGoogle Scholar
20.Orlov, Y., Aoustin, Y. and Chevallereau, C., “Finite time stabilization of a perturbed double integrator. Part I: Continuous sliding mode-based output feedback synthesis,” IEEE Trans. Autom. Control 56 (3), 614–618 (2011).CrossRefGoogle Scholar
21.Choi, S. B. and Cheon, J. W., “Vibration control of a single-link flexible arm subjected to disturbances,” J. Sound Vib. 271, 1147–1156 (2004).CrossRefGoogle Scholar
22.Hokayem, Peter F. and Spong, Mark W., “Bilateral teleoperation: An historical survey,” Automatica 42 (12), 2035–2057 (2006).CrossRefGoogle Scholar
23.Mitsantisuk, C., Ohishi, K. and Katsura, S., “Estimation of action/reaction forces for the bilateral control using Kalman filter,” IEEE Trans. Ind. Electron. 59 (11), 4383–4393 (2011).CrossRefGoogle Scholar
24.Talebi, H. A., Khorasani, K. and Patel, R. V., “Tracking control of a flexible-link manipulator using neural networks: Experimental results,” Robotica 20 (4), 417–427 (2002).CrossRefGoogle Scholar
25.Zhang, X., Mills, James K. and Cleghorn, William L., “Investigation of axial forces on dynamic properties of a flexible 3-PRR planar parallel manipulator moving with high speed,” Robotica 28 (4), 607–619 (2010).CrossRefGoogle Scholar
26.Korayem, M. H., Nikoobin, A. and Azimirad, V., “Trajectory optimization of flexible link manipulators in point-to-point motion,” Robotica 27 (6), 825–840 (2009).CrossRefGoogle Scholar
27.Moallem, M., Patel, R. V. and Khorasani, K., “An Inverse Dynamics Sliding Control Technique for Flexible Multi-link Manipulators,” Proceedings of American Control Conference, New Mexico, USA (1997) pp. 1407–1411.Google Scholar
28.Moallem, M. and Patel, R. V., “A Vibration Control Strategy for a Boom Mounted Manipulator System for High-speed Positioning,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea (1999) pp. 299–304.Google Scholar
29.Reif, K., Gunther, S. and Yaz, E., “Stochastic stability of the discrete-time extended Kalman filter,” IEEE Trans. Autom. Control 44 (4), 714–728 (1999).CrossRefGoogle Scholar
30.Carrasco, R. A., Nunez, F. and Cipriano, A., “Fault detection and isolation in cooperative mobile robots using multilayer architecture and dynamic observers,” Robotica 29 (4), 555–562 (2011).CrossRefGoogle Scholar
31.Spong, M. W., Hutchinson, S. and Vidyasagar, M., Robot Modeling and Control, John Wiley and Sons, New York (2006).Google Scholar
32.Jung, J., Lee, J. and Huh, K., “Robust contact force estimation for robot manipulators in three-dimensional space,” Proc. Inst. Mech. Eng. Part C: J. Mech. Eng. Sci. 220 (9), 1317–1327 (2006).CrossRefGoogle Scholar
33.Kasahara, Y., Kawana, H., Usuda, S. and Ohnishi, K. K., “Telerobotic-assisted bone-drilling system using bilateral control with feed operation scaling and cutting force scaling,” Int. J. Med. Robot. Comput. Assist. Surg. 8 (2), 221–229 (2012).CrossRefGoogle ScholarPubMed
34.Son, H. I., Bhattacharjee, T. and Lee, D. Y., “Estimation of environmental force for the haptic interface of robotic surgery,” Int. J. Med. Robot. Comput. Assist. Surg. 6 (2), 221–230 (2010).CrossRefGoogle ScholarPubMed
35.Tokhi, M. O. and Azad, A. K. M., Flexible Robot Manipulators: Modelling, Simulation and Control (Institution of Engineering and Technology, London, 2008).CrossRefGoogle Scholar