Adaptive Leader-Follower Consensus Control of Multiple Flexible Manipulators With Actuator Failures and Parameter Uncertainties

In this paper,the leader-follower consensus problem for a multiple flexible manipulator network with actuator failures,parameter uncertainties,and unknown time-varying boundary disturbances is addressed.The purpose of this study is to develop distributed controllers utilizing local interactive protocols that not only suppress the vibration of each flexible manipulator but also achieve consensus on joint angle position between actual followers and the virtual leader.Following the accomplishment of the reconstruction of the fault terms and parameter uncertainties,the adaptive neural network method and parameter estimation technique are employed to compensate for unknown items and bounded disturbances.Furthermore,the Lyapunov stability theory is used to demonstrate that followers’angle consensus errors and vibration deflections in closed-loop systems are uniformly ultimately bounded.Finally,the numerical simulation results confirm the efficacy of the proposed controllers.

FUZZY ADAPTIVE CONTROL OF FLEXIBLE-LINK ROBOT MANIPULATOR

A fuzzy adaptive control method is proposed for a flexible robot manipulator. Due to the structure characteristics of the flexible manipulator, the vibration modes must be controlled to realize the high-precision tip position. The Lagrangian principle is utilized to model the dynamic function of the single-degree flexible manipulator incorporating the assumed modes method. Simulation results of the fuzzy adaptive control method in the location control and the trajectory tracking with different tip disturbances are presented and compared with the results of the classic PD control. It shows that the controller can obtain the stable and robust performance.

Vibration Reduction of Open-chain Flexible Manipulators by Optimizing Independent Motions of Branch Links

In order to suppress vibration in flexible manipulators, a new type of manipulator mechanism with controllable local degrees of freedom is proposed. This mechanism consists of a main chain and some branch links. The main chain is of a flexible open-chain configuration with an end-effector installed at its tip, and the rigid branch links are able to perform active movements. It is proved by kinematics and dynamic analysis that, the branch links bear no direct kinematic relation to the main chain, but their independent motions can strongly affect the dynamic behavior and performance of the flexible manipulator. Then comes a new idea of suppressing vibration, in which independent motions of the branch links are used to suppress the undesired vibration of the flexible main chain through dynamic coupling. On this basis, an optimal method for reducing vibration of flexible manipulators is proposed. Finally, the effectiveness of this method is verified by numerical simulations.

Extremum response surface method of reliability analysis on two-link flexible robot manipulator

In order to present a new method for analyzing the reliability of a two-link flexible robot manipulator,Lagrange dynamics differential equations of the two-link flexible robot manipulator were established by using the integrated modal method and the multi-body system dynamics method.By using the Monte Carlo method,the random sample values of the dynamic parameters were obtained and Lagrange dynamics differential equations were solved for each random sample value which revealed their displacement,speed and acceleration.On this basis,dynamic stresses and deformations were obtained.By taking the maximum values of the stresses and the deformations as output responses and the random sample values of dynamic parameters as input quantities,extremum response surface functions were established.A number of random samples were then obtained by using the Monte Carlo method and then the reliability was analyzed by using the extremum response surface method.The results show that the extremum response surface method is an efficient and fast reliability analysis method with high-accuracy for the two-link flexible robot manipulator.

Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator

In this paper,an adaptive fuzzy state feedback control method is proposed for the single-link robotic manipulator system.The considered system contains unknown nonlinearfunction and actuator saturation.Fuzzy logic systems(FLSs)and a smooth function are used to approximate the unknownnonlinearities and the actuator saturation,respectively.By com-bining the command-filter technique with the backsteppingdesign algorithm,a novel adaptive fuuzy tracking backsteppingcontrol method is developed.It is proved that the adaptive fuuzycontrol scheme can guarantee that all the variables in the closed-loop system are bounded,and the system output can track thegiven reference signal as close as possible.Simulation results areprovided to illustrate the effectiveness of the proposed approach.

Effects of Joint Controller on Analytical Modal Analysis of Rotational Flexible Manipulator

Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical structure and neglect feedback action of joint controller. In order to study the effects of joint controller on the modal analysis of rotational flexible manipulator, a closed-loop analytical modal analysis method is proposed. Firstly, two exact boundary constraints, namely servo feedback constraint and bending moment constraint, are derived to solve the vibration partial differential equation. It is found that the stiffness and damping gains of joint controller are both included in the boundary conditions, which lead to an unconventional secular term. Secondly, analytical algorithm based on Ritz approach is developed by using Laplace transform and complex modal approach to obtain the natural frequencies and mode shapes. And then, the numerical simulations are performed and the computational results show that joint controller has pronounced influence on the modal parameters： joint controller stiffness reduces the natural frequency, while joint controller damping makes the shape phase non-zero. Furthermore, the validity of the presented conclusion is confirmed through experimental studies. These findings are expected to improve the performance of dynamics simulation systems and model-based controllers.

COUPLING EFFECT OF FLEXIBLE JOINT AND FLEXIBLE LINK ON DYNAMIC SINGULARITY OF FLEXIBLE MANIPULATOR

The coupling effect of the flexible joint and the flexible link on the dynamic singularity of the flexible manipulator is addressed. Firstly, the dynamic equations of a flexible manipulator with a flexible joint and a flexible link are derived. Secondly, the relationship and property between the flexible joint and the flexible link are analyzed. It shows that the flexible joint＇s amplitude will increase abruptly, thereby the dynamic singularity occurs if the frequency of a flexible joint is near or equal to some natural frequency of a flexible link. Finally, some numerical simulations which will verify the correctness of the theoretical analysis, are carded out. The results are fundamental for the design of a flexible manipulator and for the avoidance of the dynamic singularity.

Rotation Angle Control Strategy for Telescopic Flexible Manipulator Based on a Combination of Fuzzy Adjustment and RBF Neural Network

The length of fexible manipulators with a telescopic arm alters during movement.The dynamic parameters of telescopic fexible manipulators exhibit signifcant time-varying characteristics owing to variations in length.With an increase in the manipulators’length,the nonlinear terms caused by fexibility in the manipulators’dynamic equations cannot be ignored.The time-varying characteristics and nonlinear terms of telescopic fexible manipulators cause fuctuations in rotation angles,which afect the operation accuracy of end-efectors.In this study,a control strategy based on a combination of fuzzy adjustment and an RBF neural network is utilized to improve the control accuracy of fexible telescopic manipulators.First,the dynamic equation of the manipulators is established using the assumed mode method and Lagrange’s principle,and the infuence of nonlinear terms is analyzed.Subsequently,a combined control strategy is proposed to suppress the fuctuation of the rotation angle in telescopic fexible manipulators.The variation ranges of the feedforward PD controller parameters are determined by the pole placement strategy and length of the manipulators.Fuzzy rules are utilized to adjust the controller parameters in real-time.The RBF neural network is utilized to identify and compensate the uncertain part of the dynamic model of the fexible manipulators.The uncertain part comprises time-varying parameters and nonlinear terms.Finally,numerical simulations and prototype experiments prove the efectiveness of the combined control strategy.The results prove that the proposed control strategy has a smaller standard deviation of errors.Therefore,the combined control strategy is more suitable for telescopic fexible manipulators,which can efectively improve the control accuracy of rotation angles.

On Frequency Sensitivity and Mode Orthogonality of Flexible Robotic Manipulators

This paper presents sensitivity analysis of vibration frequencies of flexible manipulators with respect to variations of systems parameters such as rotational inertia of hub, and mass, moment, and side of tip load. Both Euler-Bernoulli and Timoshenko dynamical models of flexible manipulators are discussed. By using variational method, sensitivity indices are obtained with explicit expressions for measuring the sensitivity of frequencies. Based on variational formulations, a novel method for deriving the orthogonal relations among vibration modal shape functions of flexible manipulators is introduced. With this method, the orthogonal relations can be derived easily without invoking the tedious process of differentiation and integration by part, as commonly used in their derivation. © 2014 Chinese Association of Automation.

Modeling and controlling of a flexible hydraulic manipulator

A mathematical model was developed combining the dynamics of an Euler-Bernoulli beam, described by the assumed-mode method and hydraulic circuit dynamics. Only one matrix, termed drive Jacobian, was needed in the modeling of interaction between hydraulic circuit and flexible manipulator mechanism. Furthermore, a new robust controller based on mentioned above dynamic model was also considered to regulate both flexural vibrations and rigid body motion. The proposed controller combined sliding mode and backstepping techniques to deal with the nonlinear system with uncertainties. The sliding mode control was used to achieve an asymptotic joint angle and vibration regulation by providing a virtual force while the backstepping technique was used to regulate the spool position of a hydraulic valve to provide the required control force. Simulation results are presented to show the stabilizing effect and robustness of this control strategy.

Adaptive Control of Flexible Redundant Manipulators Using Neural Networks

An investigation on the neural networks based active vibration control of flexible redundant manipulators was conducted. The smart links of the manipulator were synthesized with the flexible links to which were attached piezoceramic actuators and strain gauge sensors. A nonlinear adaptive control strategy named neural networks based indirect adaptive control (NNIAC) was employed to improve the dynamic performance of the manipulator. The mathematical model of the 4-layered dynamic recurrent neural networks (DRNN) was introduced. The neuro-identifier and the neuro-controller featuring the DRNN topology were designed off line so as to enhance the initial robustness of the NNIAC. By adjusting the neuro-identifier and the neuro-controller alternatively, the manipulator was controlled on line for achieving the desired dynamic performance. Finally, a planar 3R redundant manipulator with one smart link was utilized as an illustrative example. The simulation results proved the validity of the control strategy.

Smart Material Based Complex Mode Active Control of Flexible Manipulators with Kinematic Redundancy

An active control methodology is presented for suppressing the vibratoryresponse of flexible redundant manipulators with bonded piezoceramic actuators and strain gagesensors. Firstly, the dynamic equation of the manipulator is decoupled by means of the complex modetheory and the state-space expression of the controlled system is developed. Secondly, a continuouslinear quadratic regulator (LQR) state feedback controller is designed based on the minimumprinciple. Thirdly, a full-order Luenberger state observer featuring an assigned degree of stabilityis determined via the duality between control and estimation. Finally, a numerical simulation iscarried out on a planar 3R flexible redundant manipulator. The simulation results reveal that thedynamic performance of the system is improved rapidly and significantly.

Recursive Lagrangian dynamic modeling and simulation of multi-link spatial flexible manipulator arms

The dynamics for multi-link spatial flexible manipulator arms consisting of n links and n rotary joints is investigated. Kinematics of both rotary-joint motion and link deformation is described by 4 - 4 homogenous transformation matrices, and the Lagrangian equations are used to derive the governing equations of motion of the system. In the modeling the recursive strategy for kinematics is adopted to improve the computational efficiency. Both the bending and torsional flexibility of the link are taken into account. Based on the present method a general-purpose software package for dynamic simulation is developed. Dynamic simulation of a spatial flexible manipulator arm is given as an example to validate the algorithm.

OPTIMAL CONTROL OF THE FLEXI-BLE LINK MANIPULATOR WITH CONTROLLABLE LOCAL DEGREES OF FREEDOM

Although flexible manipulators own many potential advantages, one of their major disadvantages is the deterioration of the end-effector accuracy due to the flexibility. Therefore, how to reduce vibration is a significant problem. Inspired by the observation on the motion behaviors of animals, a new idea of decreasing motion deflection of the flexible manipulator is suggested. The concept of controllable local degrees of freedom is proposed and analyzed. By way of optimizing local motion provided by the controllable local degrees of freedom, the end-effector deflection of the flexible manipulator can be effectively decreased through dynamic coupling. The corresponding optimal method for vibration control of the flexible manipulator is put forward. The kinematic simulation is carried ant on a three-link flexible manipulator The corresponding results verify the feasibility of this method.

Dynamic analysis of multi-link spatial flexible manipulator arms with dynamic stiffening effects

The dynamics for multi-link spatial flexible manipulator arms is investigated. The system considered here is an N-flexible-link manipulator driven by N DC-motors through N revolute flexiblejoints. The flexibility of each flexible joint is modeled as a linearly elastic torsional spring, and the mass of the joint is also considered. For the flexibility of the link, all of the stretching deformation, bending deformation and the torsional deformation are included. The complete governing equations of motion of the system are derived via the Lagrange equations. The nonlinear description of the deformation field of the flexible link is adopted in the dynamic modeling, and thus the dynamic stiffening effects are captured. Based on this model, a general-purpose software package for dynamic simulation of multi-link spatial flexible manipulator arms is developed. Several illustrative examples are given to validate the algorithm presented in this paper and to indicate that not only dynamic stiffening effects but also the flexibility of the structure has significant influence on the dynamic performance of the manipulator.

Ground demonstration system based on in-orbit assembly oriented manipulator flexible force control

To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.

Finite-time State Feedback Stabilization Method for a Class of Flexible Manipulators

Aimed at the finite-time stabilization problem of a class of flexible manipulators,a finite-time state feedback stabilization controller was proposed in this paper.Firstly,the nonlinear model of flexible manipulators was transformed into linear system through the exact state feedback linearization,and then using the finite time stabilization control method of the linear system,a finite-time state feedback stabilization controller was designed for the flexible manipulators.Furthermore,it was proved that all the states of flexible manipulators could be stabilized to equilibrium in finite-time under the proposed controller.The simulation results show that the performance of the flexible manipulators under the proposed finite-time state feedback controller is better than the traditional state-feedback controller.The proposed finite-time stabilization controller can improve the performance of the flexible manipulators.

Integrated Optimal Model of Structure and Control of the Single Arm Manipulator

The integrated optimal design of mechanical and control system is discussed in terms of the performance requirement and configuration for the single arm flexible manipulator. By combination of dynamics of flexible structure and control theory, a PD feedback control system, which minimizes the settling time, has been designed. Then, the viable region of poles of the PD dosed-loop control system is decided according to overshoot and the settling time, and an integrated optimal model of structure and control of single arm manipulator is presented. Finally, the parameters of structure and control system are simultaneously optimized with respect to objective function induding the moment of inertia and the control effort of system.

Fuzzy Supervisory Control and GPC Applied to a Flexible Single-Link Manipulator

This paper presents the development of a classical and intelligent control approaches applied to a flexible single-link manipulator robot and compared in terms of input tracking and vibration suppression. Lagrange＇s equations and finite elements method are combined to compute dynamic model of a flexible link manipulator with one rigid joint. Next, dynamics are itemized to explain flexible link behavior. Then a fuzzy supervisory controller is developed and introduced in the high level of the closed-loop of the flexible manipulator. A generalized predictive controller is then developed and introduced in the flexible system closed-loop to minimize end-point residual vibrations. Simulation results obtained are compared to a GPC （generalized predictive controller） in terms of end-point vibration suppression, input tracking and disturbance rejection. A conclusion encloses the paper.

Adaptive Fuzzy Control of Constrained Flexible-Link Manipulators

In this paper, a novel adaptive fuzzy control scheme is presented. The controller is constructed by using a table lookup scheme and self tuning techniques, which includes the identification block, the fuzzification, the updating rule base, the defuzzification, and the crisp controller (sub controller), etc. The adaptive fuzzy controller is designed in detail by means of a triangular membership function and the center of gravity method. The control scheme addressed here is implemented to control the motion of the end effector of a two link constrained flexible manipulator. Computer simulation results show that the novel adaptive fuzzy control scheme works quite well.