Position control of a two-link flexible manipulator using piezoelectric actuators

Seung-Bok Choi; H. C. Shin; Hakil K. Kim; Jaehwan Kim

doi:10.1117/12.350077

4 June 1999 Position control of a two-link flexible manipulator using piezoelectric actuators

Seung-Bok Choi, H. C. Shin, Hakil K. Kim, Jaehwan Kim

Proceedings Volume 3667, Smart Structures and Materials 1999: Mathematics and Control in Smart Structures; (1999) https://doi.org/10.1117/12.350077
Event: 1999 Symposium on Smart Structures and Materials, 1999, Newport Beach, CA, United States

Abstract

This paper presents a hybrid actuator scheme to actively control the end-point position of a two-link flexible manipulator. A highly nonlinear system model including inertial effects is established using Lagrange's equation associated with assumed mode method. Control scheme consists of four different actuators; two servo-motors at the hubs and two piezoceramics bonded to the surfaces of the flexible links. Two sliding hyperplanes which have time varying parameters are designed for two servo-motors. The surface gradients of the hyperplanes are determined by pole assignment technique to guarantee the stability on the hyperplanes themselves. The sliding mode controllers corresponding to the hyperplanes are then synthesized on the basis of sliding mode conditions. During the motion, undesirable oscillations caused by the torques based on the rigid link dynamics are actively suppressed by applying feedback control voltages to the piezoceramic actuators. Consequently, desired tip motion is achieved. In order to demonstrate the effectiveness of the proposed methodology experiments are performed for the regulating and tracking control problem.

Citation Download Citation

Seung-Bok Choi, H. C. Shin, Hakil K. Kim, and Jaehwan Kim "Position control of a two-link flexible manipulator using piezoelectric actuators", Proc. SPIE 3667, Smart Structures and Materials 1999: Mathematics and Control in Smart Structures, (4 June 1999); https://doi.org/10.1117/12.350077

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available