Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/62775
Title: Simulation studies of tip tracking control of a single-link flexible robot based on a lumped model
Authors: Zhu, G.
Ge, S.S. 
Lee, T.H. 
Keywords: Flexible link robot
Lumping
Tracking control
Issue Date: 1999
Source: Zhu, G.,Ge, S.S.,Lee, T.H. (1999). Simulation studies of tip tracking control of a single-link flexible robot based on a lumped model. Robotica 17 (1) : 71-78. ScholarBank@NUS Repository.
Abstract: In this paper, tip tracking control of a single-link flexible robot is studied through computer simulations. The controller investigated is of a two-loop PD type, which is deduced from a control approach originally developed for elastic joint robots. A very simple model, with the flexible link of the robot being lumped to a spring-mass unit, is employed for the controller design. Bounded Input and Bounded Output (BIBO) stable tip tracking performance is guaranteed. The controller is robustly stable under system parameter uncertainties, and is comparatively easy to implement. In the simulations, different payloads are considered, and the system performance is compared with the traditional Singular Perturbation (SP) method. The simulation results show that the PD type controller designed based on the simple lumped model is able to provide quite satisfactory performance. © 1999 Cambridge University Press.
Source Title: Robotica
URI: http://scholarbank.nus.edu.sg/handle/10635/62775
ISSN: 02635747
Appears in Collections:Staff Publications

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