Reduced Model Based Control of Two Link Flexible Space Robot

ABSTRACT

Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters accurately. This is a very difficult task especially if the manipulator is flexible. So a reduced model based controller has been developed, which requires only the information of space robot base velocity and link parameters. The flexible link is modeled as Euler Bernoulli beam. To simplify the analysis we have considered Jacobian of rigid manipulator. Bond graph modeling is used to model the dynamics of the system and to devise the control strategy. The scheme has been verified using simulation for two links flexible space manipulator.

Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters accurately. This is a very difficult task especially if the manipulator is flexible. So a reduced model based controller has been developed, which requires only the information of space robot base velocity and link parameters. The flexible link is modeled as Euler Bernoulli beam. To simplify the analysis we have considered Jacobian of rigid manipulator. Bond graph modeling is used to model the dynamics of the system and to devise the control strategy. The scheme has been verified using simulation for two links flexible space manipulator.

KEYWORDS

Flexible Space Robots, Bond Graph Modeling, Reduced Model Based Controller, Euler-Bernoulli Beam

Flexible Space Robots, Bond Graph Modeling, Reduced Model Based Controller, Euler-Bernoulli Beam

Cite this paper

nullA. Kumar, P. Pathak and N. Sukavanam, "Reduced Model Based Control of Two Link Flexible Space Robot,"*Intelligent Control and Automation*, Vol. 2 No. 2, 2011, pp. 112-120. doi: 10.4236/ica.2011.22013.

nullA. Kumar, P. Pathak and N. Sukavanam, "Reduced Model Based Control of Two Link Flexible Space Robot,"

References

[1] Y. Murotsu, S. Tsujio, K. Senda and M. Hayashi, “Trajectory Control of Flexible Manipulators on a Free Flying Space Robot,” IEEE Control Systems, Vol. 12, No. 3, 1992, pp. 51-51. doi:10.1109/37.165517

[2] Y. Murotsu, K. Senda and M. Hayashi, “Some Trajectory Control Schemes for Flexible Manipulators on a Free Flying Space Robot,” Proceedings of International Conference on Intelligent Robots and Systems, Raleigh, 1992.

[3] B. Samanta and S. Devasia, “Modeling and Control of Flexible Manipulators Using Distributed Actuators: A Bond Graph Approach,” Proceedings of the IEEE International Workshop on Intelligent Robots and Systems, 1988. doi:10.1109/IROS.1988.592414

[4] B. Fardanesh and J. Rastegar, “A New Model Based Tracking Controller for Robot Manipulators Using the Trajectory Pattern Inverse Dynamics,” Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, 1992. doi:10.1109/ROBOT.1992.219938

[5] F. Y. Wang and Y. Gao, “Advanced Studies of Flexible Robotic Manipulators: Modeling, Design, Control and Application: Series in Intelligent Control and Intelligent Automation,” Word Scientific, New York, 2003.

[6] M. B. Leahy Jr., D. E. Bossert and P. V. Whalen, “Robust Model-Based Control: An Experimental Case Study,” Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Cincinnati, Vol. 3, 1990, pp. 1982-1987.

[7] K. Fawaz, R. Merzouki and B. Ould-Bouamama, “Model Based Real Time Monitoring for Collision Detection of an Industrial Robot,” Mechatronics, Vol. 19, No. 5, 2009, pp. 695-704. doi:10.1016/j.mechatronics.2009.02.005

[8] S. K. Tso, L. Law, Y. Xu and H. Y. Shum, “Implementing Model-Based Variable-Structure Controllers for Robot Manipulators with Actuator Modeling,” Proceedings of the 1993 IEEE/IRSJ International Conference on Intelligent Robots and Systems, Yokohama, 1993. doi:10.1109/IROS.1993.583137

[9] H. A. Zhu, C. L. Teo and G. S. Hong, “A Robust Model-Based Controller for Robot Manipulators,” Proceedings of the IEEE International Symposium on Industrial Electronics, Vol. 1, 1992, pp. 380-384.

[10] Z. Qu, J. F. Dorsey, X. Zhang and D. M. Dawson, “Robust Control of Robots by the Computed Torque Law,” Systems and Control Letters, Vol. 16, No.1, 1991, pp.25-32. doi:10.1016/0167-6911(91)90025-A

[11] P. K. Khosla and T. Kanade, “Real-Time Implementation and Evaluation of Computed-Torque Schemes,” IEEE Transactions on Robotics and Automation, Vol. 5, No.2, 1989, pp. 245-263. doi:10.1109/70.88047

[12] P. M. Pathak, R. Prasanth Kumar, A. Mukherjee and A. Dasgupta, “A Scheme for Robust Trajectory Control of Space Robots,” Simulation Modeling Practice and Theory, Vol. 16, 2008, pp. 1337-1349. doi:10.1016/j.simpat.2008.06.011

[13] R. M. Berger, H. A. EIMaraghy and W. H. EIMaraghy, “The Analysis of Simple Robots Using Bond Graphs,” Journal of Manufacturing Systems, Vol. 9 No. 1, 2003, pp. 13-19, 2003.

[14] A. K. Samantaray and A. Mukherjee, “Users Manual of SYMBOLS Shakti,” High-Tech Consultants, S.T.E.P., Indian Institute of Technology, Kharagpur, 2006.

[1] Y. Murotsu, S. Tsujio, K. Senda and M. Hayashi, “Trajectory Control of Flexible Manipulators on a Free Flying Space Robot,” IEEE Control Systems, Vol. 12, No. 3, 1992, pp. 51-51. doi:10.1109/37.165517

[2] Y. Murotsu, K. Senda and M. Hayashi, “Some Trajectory Control Schemes for Flexible Manipulators on a Free Flying Space Robot,” Proceedings of International Conference on Intelligent Robots and Systems, Raleigh, 1992.

[3] B. Samanta and S. Devasia, “Modeling and Control of Flexible Manipulators Using Distributed Actuators: A Bond Graph Approach,” Proceedings of the IEEE International Workshop on Intelligent Robots and Systems, 1988. doi:10.1109/IROS.1988.592414

[4] B. Fardanesh and J. Rastegar, “A New Model Based Tracking Controller for Robot Manipulators Using the Trajectory Pattern Inverse Dynamics,” Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, 1992. doi:10.1109/ROBOT.1992.219938

[5] F. Y. Wang and Y. Gao, “Advanced Studies of Flexible Robotic Manipulators: Modeling, Design, Control and Application: Series in Intelligent Control and Intelligent Automation,” Word Scientific, New York, 2003.

[6] M. B. Leahy Jr., D. E. Bossert and P. V. Whalen, “Robust Model-Based Control: An Experimental Case Study,” Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Cincinnati, Vol. 3, 1990, pp. 1982-1987.

[7] K. Fawaz, R. Merzouki and B. Ould-Bouamama, “Model Based Real Time Monitoring for Collision Detection of an Industrial Robot,” Mechatronics, Vol. 19, No. 5, 2009, pp. 695-704. doi:10.1016/j.mechatronics.2009.02.005

[8] S. K. Tso, L. Law, Y. Xu and H. Y. Shum, “Implementing Model-Based Variable-Structure Controllers for Robot Manipulators with Actuator Modeling,” Proceedings of the 1993 IEEE/IRSJ International Conference on Intelligent Robots and Systems, Yokohama, 1993. doi:10.1109/IROS.1993.583137

[9] H. A. Zhu, C. L. Teo and G. S. Hong, “A Robust Model-Based Controller for Robot Manipulators,” Proceedings of the IEEE International Symposium on Industrial Electronics, Vol. 1, 1992, pp. 380-384.

[10] Z. Qu, J. F. Dorsey, X. Zhang and D. M. Dawson, “Robust Control of Robots by the Computed Torque Law,” Systems and Control Letters, Vol. 16, No.1, 1991, pp.25-32. doi:10.1016/0167-6911(91)90025-A

[11] P. K. Khosla and T. Kanade, “Real-Time Implementation and Evaluation of Computed-Torque Schemes,” IEEE Transactions on Robotics and Automation, Vol. 5, No.2, 1989, pp. 245-263. doi:10.1109/70.88047

[12] P. M. Pathak, R. Prasanth Kumar, A. Mukherjee and A. Dasgupta, “A Scheme for Robust Trajectory Control of Space Robots,” Simulation Modeling Practice and Theory, Vol. 16, 2008, pp. 1337-1349. doi:10.1016/j.simpat.2008.06.011

[13] R. M. Berger, H. A. EIMaraghy and W. H. EIMaraghy, “The Analysis of Simple Robots Using Bond Graphs,” Journal of Manufacturing Systems, Vol. 9 No. 1, 2003, pp. 13-19, 2003.

[14] A. K. Samantaray and A. Mukherjee, “Users Manual of SYMBOLS Shakti,” High-Tech Consultants, S.T.E.P., Indian Institute of Technology, Kharagpur, 2006.