Vol. 7, No. 2, 2019

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Energy-based trajectory tracking and vibration control for multilink highly flexible manipulators

Ivan Giorgio and Dionisio Del Vescovo

Vol. 7 (2019), No. 2, 159–174
Abstract

In this paper, a discrete model is adopted, as proposed by Hencky for elastica based on rigid bars and lumped rotational springs, to design the control of a lightweight planar manipulator with multiple highly flexible links. This model is particularly suited to deal with nonlinear equations of motion as those associated with multilink robot arms, because it does not include any simplification due to linearization, as in the assumed modes method. The aim of the control is to track a trajectory of the end effector of the robot arm, without the onset of vibrations. To this end, an energy-based method is proposed. Numerical simulations show the effectiveness of the presented approach.

Keywords
nonlinear elastica, discrete modeling, flexible robot arms, energy-based control
Mathematical Subject Classification 2010
Primary: 70E60
Secondary: 70E55, 70KXX, 74KXX, 74SXX
Milestones
Received: 27 December 2018
Revised: 17 February 2019
Accepted: 20 March 2019
Published: 27 May 2019

Communicated by Francesco dell'Isola
Authors
Ivan Giorgio
Department of Mechanical and Aerospace Engineering
Università di Roma “La Sapienza”
Italy
International Research Center on Mathematics and Mechanics of Complex Systems
Università degli studi dell’Aquila
Italy
Dionisio Del Vescovo
Department of Mechanical and Aerospace Engineering
Università di Roma “La Sapienza”
Italy
International Research Center on Mathematics and Mechanics of Complex Systems
Università degli studi dell’Aquila
Italy