Hostname: page-component-84b7d79bbc-7nlkj Total loading time: 0 Render date: 2024-08-05T07:34:11.415Z Has data issue: false hasContentIssue false
  • English
  • Français

Determining maximum load carrying capacity of planar flexible-link robot: closed-loop approach

Published online by Cambridge University Press:  07 January 2010

M. H. Korayem ,
R. Haghighi ,
A. H. Korayem ,
A. Nikoobin  and
A. Alamdari
M. H. Korayem*
Affiliation:
Robotic Research Laboratory, College of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
R. Haghighi
Affiliation:
Robotic Research Laboratory, College of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
A. H. Korayem
Affiliation:
Robotic Research Laboratory, College of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
A. Nikoobin
Affiliation:
Robotic Research Laboratory, College of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
A. Alamdari
Affiliation:
Robotic Research Laboratory, College of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
*
*Corresponding author. E-mail: hkorayem@iust.ac.ir
Get access Rights & Permissions [Opens in a new window]

Summary

Maximum load carrying capacity (MLCC) of flexible robot manipulators is computed based on closed-loop approach. In open-loop approach, controller is not considered, so the end effector deviation from the predefined path is significant and the accuracy constraint restrains the maximum payload before actuators go into saturation mode. In order to improve the MLCC, a method based on closed-loop strategy is presented. Since in this case the accuracy is improved the actuators constraint is not a major concern and full power of actuators can be used. Since controller can play an important role in improving the maximum payload, a sliding mode based partial feedback linearization controller is designed. Furthermore, a fuzzy variable layer is used in sliding mode design to boost the performance of the controller. However, the control strategy required measurements of elastic variables velocity that are not conveniently measurable. So a nonlinear observer is designed to estimate these variables. Stability analysis of the proposed controller and state observer are performed on the basis of Lyapunov's direct method. In order to verify the effectiveness of the presented method, simulation is done for a two-link flexible manipulator. The obtained maximum payload in open-loop and closed-loop cases is compared and the superiority of the method is illustrated and the results are discussed.

Keywords

Flexible manipulatorSliding modeObserverFeedback linearization
Type
Article
Information
Robotica , Volume 28 , Issue 7 , December 2010 , pp. 959 - 973
Copyright
Copyright © Cambridge University Press 2010

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Wang, L. T. and Ravani, B., “Dynamic load carrying capacity of mechanical manipulators—Part 1,” J. Dyn. Sys. Meas. Control 110, 46–52 (1988).CrossRefGoogle Scholar
2.Yao, Y. L., Korayem, M. H. and Basu, A., “Maximum allowable load of flexible manipulators for given dynamic trajectory,” Rob. Comp.-Integrated Manuf. 10 (4), 301–309 (1993).CrossRefGoogle Scholar
3.Korayem, M. H. and Basu, A., “Formulation and numerical solution of elastic robot dynamic motion with maximum load carrying capacity,” Robotica 12, 253–261 (1994).CrossRefGoogle Scholar
4.Zhao, Y. S., Lu, L., Zhao, T. S., Du, Y. H. and Huang, Z., “The novel approaches for computing the dynamic load-carrying capacity of multiple cooperating robotic manipulators,” Mech. Mach. Theory 34, 637–643 (1998).CrossRefGoogle Scholar
5.Korayem, M. H., Ghariblu, H. and Basu, A., “Maximum allowable load of mobile manipulators for two given end points of end effector,” Int. J. Adv. Manuf. Technol. 24, 743–751 (2004).CrossRefGoogle Scholar
6.Korayem, M. H. and Nikoobin, A., “Maximum payload for flexible joint manipulators in point-to-point task using optimal control approach,” Int. J. Adv. Manuf. Technol. 38 (9–10), 1045–1060 (2008).CrossRefGoogle Scholar
7.Korayem, M. H., Heidari, A. and Nikoobin, A., “Maximum allowable dynamic load of flexible mobile manipulators using finite element approach,” Int. J. Adv. Manuf. Technol. 36 (5–6), 606–617 (2008).CrossRefGoogle Scholar
8.Korayem, M. H. and Bamdad, M., “Dynamic load-carrying capacity of cable-suspended parallel manipulators,” Int. J. Adv. Manuf. Technol. 44 (7–8), 1133–1143 (2009).CrossRefGoogle Scholar
9.Korayem, M. H. and Nikoobin, A., “Maximum payload path planning for redundant manipulator using indirect solution of optimal control problem,” Int. J. Adv. Manuf. Technol. 44 (7–8), 725–736 (2008).CrossRefGoogle Scholar
10.Korayem, M. H., Davarpanah, F. and Ghariblu, H., “Load carrying capacity of flexible joint manipulators with feedback linearization,” Int. J. Adv. Manuf. Technol. 29, 389–397 (2006).CrossRefGoogle Scholar
11.Korayem, M. H. and Pilechian, A., “Maximum allowable load of elastic joint robots: sliding mode control approach,” Amirkabir J. Sci. & Technol. 17 (65), 75–82 (2007).Google Scholar
12.Isidori, A., Nonlinear Control Systems, 3rd ed. (Springer-Verlag, London, 1995).CrossRefGoogle Scholar
13.Arisoy, A., Gokasan, M. and Bogosyant, S., “Sliding Mode Based Position Control of a Flexible-Link Arm,” 12th International Power Electronics and Motion Control Conference, Proceedings, art. no. 4061738, (2007) pp. 402–407.Google Scholar
14.Wang, J., Rad, A. B. and Chan, P. T., “Indirect adaptive fuzzy sliding mode control: Part I: fuzzy switching,” Fuzzy sets sys. 122, 21–30 (2001).CrossRefGoogle Scholar
15.Derbel, N. and Alimi, A. M., “Design of a sliding mode controller by fuzzy logic,” Int. J. Rob. Autom. 21 (4), 241–246 (2006).Google Scholar
16.Liang, C. Y. and Su, J. P., “A new approach to the design of a fuzzy sliding mode controller,” Fuzzy Sets Sys. 139, 111–124 (2003).CrossRefGoogle Scholar
17.Abdelhameed, M. M., “Enhancement of sliding mode controller by fuzzy logic with application to robotic manipulators,” Mechatronics 15, 439–458 (2005).CrossRefGoogle Scholar
18.Ho, H. F., Wong, Y. K. and Rad, A. B., “Robust fuzzy tracking control for robotic manipulators,” Simul. Model. Prac. Theory 15, 801–816 (2007).CrossRefGoogle Scholar
19.Zuyev, A. L., “Observability of a flexible manipulator with a payload,” Phys. Con. 523–526 (2005).Google Scholar
20.Nguyen, T. D. and Egeland, O., “Observer design for a flexible robot arm with a tip load,” American Control Conf. 1389–1394 (2005).Google Scholar
21.Chalhoub, N. G. and Kfoury, G. A., “Development of a robust nonlinear observer for a single-link flexible manipulator,” Nonlinear Dyn. 39, 217–233 (2005).CrossRefGoogle Scholar
22.Lee, S. H. and Lee, C. W., “Hybrid control scheme for robust tracking of two-link flexible manipulator,” J. Intell. Rob. Sys. 32, 389–410 (2001).CrossRefGoogle Scholar
23.Slotine, J. J. and Li, W., Applied Nonlinear Control (Prentice-Hall, Englewood Cliffs, NJ, 1991).Google Scholar