Dynamic End-Effector Trajectory Control for Flexible Micro-Macro Manipulators Using an Ideal Manifold.

摘要

This paper proposes a new control method for end-effector dynamic trajectory tracking of flexible macro-macro manipulators.In this method, an ideal manifold is designed to prescribe desirable behavior of the system in terms of end-effector trajectory tracking, and link vibration damping.A control strategy based on both nonlinear and linear control schemes is established.The nonlinear control scheme is derived to compensate the nonlinear forces which generated from the dynamics of the robot and the coordinate transformation from the joints and links to the ideal manifold.The linear control scheme is designed on the bases of feedback of motion error with respect to the ideal manifold, such that the motion of the robot system could converge and maintain to the ideal manifold.Stability of the system is verified by using Lyapunov stability theory.Simulations are carried out to illustrate the effectiveness of the proposed control method.