Abstract
We address the problem of inverse dynamics for flexible multibodies, which arises, in trajectory tracking control of flexible multibodies such as space manipulators and articulated flexible structures. Previous research has resolved this trajectory tracking problem by computing the system inputs for feedforward control of actuators at the joints. Recently, the use of distributed actuators like electro-strictive actuators in flexible structures has introduced a new dimension to this trajectory tracking problem. In this paper we optimally utilize such actuators to aid joint actuators for tracking control, and introduce a new inverse dynamics scheme for simultaneously (1) tracking a prescribed trajectory and (2) minimizing ensuing elastic deflections. We apply this scheme for trajectory tracking of a two-link two-joint planar manipulator with joint motors and distributed electro-strictive actuators. Experimental results are presented to contrast our new scheme with other existing methods.
Similar content being viewed by others
References
Bayo, E., ‘A finite-element approach to control the end-point motion of a single-link flexible robot’, Journal of Robotic Systems 4, 1987, 63–75.
Kwon, D. S. and Book, W. J., ‘An inverse dynamic method yielding flexible manipulator state trajectories’, Proceedings of American Control Conference, San Diego, CA, 1990, pp. 186–193.
Bayo, E., Serna, M. A., Papadopoulos, P., and Stubbe, J., ‘Inverse dynamics and kinematics of multi-link elastic robots. An iterative frequency domain approach’, The International Journal of Robotics Research 8, 1989, 49–62.
Ledesma, R. and Bayo, E., ‘A non-recursive Lagrangian solution to the non-causal inverse dynamics of flexible multibody systems: The planar case’, International Journal of Numerical Methods in Engineering 36, 1993, 2725–2741.
Moulin, H. and Bayo, E., ‘On the end point trajectory tracking for flexible manipulators through non-causal inverse dynamics’, Journal of Dynamic Systems, Measurement and Control 113, 1991, 320–324.
Mierovitch, L. and Baruh, H., ‘Control of self-adjoint distributed-parameter systems’, AIAA Journal 5, 1980, 60–66.
Balas, M. J., ‘Active control of flexible systems’, Journal of Optimization Theory and Applications 25, 1987, 415–436.
Fanson, J. L. and Garba, J. A., ‘Experimental studies of active members in control of large space structures’, Proceedings of the 29th AIAA SDM Conference, Williamsburg, VA, 1988, pp. 9–17.
Paden, B., Chen, D., Ledesma, R., and Bayo, E., ‘Exponentially stable tracking control for multi-joint flexible-link manipulators’, ASME Journal of Dynamic Systems, Measurement and Control 115, 1993, 53–59.
Naganathan, G. and Soni, A. H., ‘Coupling effects of kinematics and flexibility in manipulators’, International Journal of Robotics Research 6, 1987, 75–85.
Bathe, K. J., Finite Element Procedures in Engineering Analysis, Prentice Hall, Englewood Cliffs, New Jersey, 1982.
Gofron, M. and Shabana, A., ‘Effect of the deformation in the inertia forces on the inverse dynamics of planar flexible mechanical systems’, Nonlinear Dynamics 6, 1994, 1–20.
Stewart, G. W., Introduction to Matrix Computations, Academic Press Inc., 1973, pp. 319–325.
Devasia, S., Meressi, T., Paden, B., and Bayo, E., ‘Piezo-electric actuator design for vibration suppression: Placement and sizing’, Journal of Guidance, Dynamics and Control 16, 1993, 859–864.
Crawley, E. F. and Anderson, E. H., ‘Detailed models of piezoceramic actuation of beams’, Journal of Intelligent Material Systems and Structures 1, 1990, 4–25.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Devasia, S., Bayo, E. Redundant actuators to achieve minimal vibration trajectory tracking of flexible multibodies: Theory and application. Nonlinear Dyn 6, 419–431 (1994). https://doi.org/10.1007/BF00045886
Received:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/BF00045886