Noncolocated μ-Tip Trajectory Tracking of Redundantly-Actuated Flexible Robotic Manipulators

Richard J. Lyman; Sze Kwan Cheah; Ryan J. Caverly

doi:10.23919/ACC55779.2023.10156638

Noncolocated μ-Tip Trajectory Tracking of Redundantly-Actuated Flexible Robotic Manipulators

Richard J. Lyman, Sze Kwan Cheah, Ryan J. Caverly

Aerospace Engineering and Mechanics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper presents a robust passivity-based payload trajectory tracking control method for redundantly-actuated flexible robotic manipulators. The proposed approach is based on μ-tip control, which involves the use of a modified system output to ensure a passive input-output mapping. This work distinguishes itself from prior implementations of μ-tip control with flexible manipulators by demonstrating the generality with which redundant actuation can be accounted for. In particular, it is shown that prior load-sharing-parameter-based approaches are a special case of a more general kinematic constraint that is to be enforced to ensure passivity. Numerical results with an overactuated cable-driven parallel robot demonstrate the performance of the proposed μ-tip control method.

Original language	English (US)
Title of host publication	2023 American Control Conference, ACC 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4671-4676
Number of pages	6
ISBN (Electronic)	9798350328066
DOIs	https://doi.org/10.23919/ACC55779.2023.10156638
State	Published - 2023
Event	2023 American Control Conference, ACC 2023 - San Diego, United States Duration: May 31 2023 → Jun 2 2023

Publication series

Name	Proceedings of the American Control Conference
Volume	2023-May
ISSN (Print)	0743-1619

Conference

Conference	2023 American Control Conference, ACC 2023
Country/Territory	United States
City	San Diego
Period	5/31/23 → 6/2/23

Bibliographical note

Publisher Copyright:
© 2023 American Automatic Control Council.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.23919/ACC55779.2023.10156638

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Lyman, R. J., Kwan Cheah, S., & Caverly, R. J. (2023). Noncolocated μ-Tip Trajectory Tracking of Redundantly-Actuated Flexible Robotic Manipulators. In 2023 American Control Conference, ACC 2023 (pp. 4671-4676). (Proceedings of the American Control Conference; Vol. 2023-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC55779.2023.10156638

Noncolocated μ-Tip Trajectory Tracking of Redundantly-Actuated Flexible Robotic Manipulators. / Lyman, Richard J.; Kwan Cheah, Sze; Caverly, Ryan J.
2023 American Control Conference, ACC 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 4671-4676 (Proceedings of the American Control Conference; Vol. 2023-May).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lyman, RJ, Kwan Cheah, S & Caverly, RJ 2023, Noncolocated μ-Tip Trajectory Tracking of Redundantly-Actuated Flexible Robotic Manipulators. in 2023 American Control Conference, ACC 2023. Proceedings of the American Control Conference, vol. 2023-May, Institute of Electrical and Electronics Engineers Inc., pp. 4671-4676, 2023 American Control Conference, ACC 2023, San Diego, United States, 5/31/23. https://doi.org/10.23919/ACC55779.2023.10156638

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abstract = "This paper presents a robust passivity-based payload trajectory tracking control method for redundantly-actuated flexible robotic manipulators. The proposed approach is based on μ-tip control, which involves the use of a modified system output to ensure a passive input-output mapping. This work distinguishes itself from prior implementations of μ-tip control with flexible manipulators by demonstrating the generality with which redundant actuation can be accounted for. In particular, it is shown that prior load-sharing-parameter-based approaches are a special case of a more general kinematic constraint that is to be enforced to ensure passivity. Numerical results with an overactuated cable-driven parallel robot demonstrate the performance of the proposed μ-tip control method.",

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AB - This paper presents a robust passivity-based payload trajectory tracking control method for redundantly-actuated flexible robotic manipulators. The proposed approach is based on μ-tip control, which involves the use of a modified system output to ensure a passive input-output mapping. This work distinguishes itself from prior implementations of μ-tip control with flexible manipulators by demonstrating the generality with which redundant actuation can be accounted for. In particular, it is shown that prior load-sharing-parameter-based approaches are a special case of a more general kinematic constraint that is to be enforced to ensure passivity. Numerical results with an overactuated cable-driven parallel robot demonstrate the performance of the proposed μ-tip control method.

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Noncolocated μ-Tip Trajectory Tracking of Redundantly-Actuated Flexible Robotic Manipulators

Abstract

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