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Feedback Linearizing Controller for a Flexible Single-Link Arm under Gravity and Joint Friction

  • Conference paper
ROBOT2013: First Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 253))

Abstract

This paper presents a control scheme for a flexible single-link arm moving under gravity. The purpose of this controller is the precise positioning of the arm tip in presence of link vibrations and joint friction. In order to achieve this, a two nested loop control is used: The inner loop is responsible for the motor positioning, and the outer loop suppresses the vibrations in the arm structure. On the inner loop design, a linear algebraic controller is considered. On the outer loop, an input/state linearization control is chosen. Simulation results are presented to demonstrate the performance of the controller.

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Author information

Authors and Affiliations

  1. Department of Electrical, Electronic and Automatic Engineering, University of Castilla-La Mancha, Ciudad Real, Spain

    Juan C. Cambera, José A. Chocoteco & Vicente Feliu

Authors
  1. Juan C. Cambera
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  2. José A. Chocoteco
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  3. Vicente Feliu
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Corresponding author

Correspondence to Juan C. Cambera .

Editor information

Editors and Affiliations

  1. CAR UPM-CSIC, Agencia Estatal Consejo Superior de Investigaciones Científicas (CSIC), Arganda del Rey, Spain

    Manuel A. Armada

  2. Universitat Politècnica de Catalunya (UPC), Barcelona, Spain

    Alberto Sanfeliu

  3. Universidad Politécnica de Madrid (UPM), Madrid, Spain

    Manuel Ferre

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© 2014 Springer International Publishing Switzerland

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Cambera, J.C., Chocoteco, J.A., Feliu, V. (2014). Feedback Linearizing Controller for a Flexible Single-Link Arm under Gravity and Joint Friction. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 253. Springer, Cham. https://doi.org/10.1007/978-3-319-03653-3_14

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  • DOI: https://doi.org/10.1007/978-3-319-03653-3_14

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03652-6

  • Online ISBN: 978-3-319-03653-3

  • eBook Packages: EngineeringEngineering (R0)

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