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首页> 外文会议>CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators >Trajectory Tracking Control of a Very Flexible Robot Using a Feedback Linearization Controller and a Nonlinear Observer
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Trajectory Tracking Control of a Very Flexible Robot Using a Feedback Linearization Controller and a Nonlinear Observer

机译：使用反馈线性化控制器和非线性观测器非常灵活机器人的轨迹跟踪控制

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摘要

Flexible robots can be modeled as underactuated multibody systems since they generally have less control inputs than degrees of freedom for rigid body motion and deformation. The flexibilities must be taken into account in the control design. In order to obtain high performance in the end-effector trajectory tracking, an accurate and efficient nonlinear controller is required. In this paper, a nonlinear feedback controller based on the feedback linearization approach using all the states of the system is designed and carefully tested on a very flexible parallel lambda robot. The simulation and experimental results show that the end-effector tracks a trajectory with higher accuracy compared to previous works.
机译：柔性机器人可以被建模为欠扰的多体系系统，因为它们通常具有比刚体运动和变形的自由度更小的控制输入。必须在控制设计中考虑灵活性。为了在末端执行器轨迹跟踪中获得高性能，需要精确高效的非线性控制器。在本文中，基于使用系统的所有状态的反馈线性化方法的非线性反馈控制器被设计和仔细测试在非常灵活的并行Lambda机器人上。模拟和实验结果表明，与以前的作品相比，末端效应器以更高的精度跟踪轨迹。

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