Two-step controller for 3-d flexible link manipulators: Bandwidth modulation and modal feedback approach

Abstract

For joint tracking control of flexible robots, this paper presents a two-step design of controller: the bandwidth modulation with modal,feedback approach, First, We focus on the design of rigid parts motion controller considering the bandwidth of the rigid sub-system. Vie investigate the relationship between macro joint tracking performance and vibration suppression capability using the bandwidth parameter Alter adjusting the band-width of rigid motion. the composite control, which is the second step Consisting of rigid and flexible sub-controllers. is applied like singular perturbation approach. As the flexible sub-controller, we propose a direct modal feedback controller that is very simple, but effective to suppress the vibration. The validity and effectiveness of the proposed method are are verified by experiments using a POSTECH 3-D flexible robot.