Disturbance Compensator for a Very Flexible Parallel Lambda Robot in Trajectory Tracking

Fatemeh Ansarieshlaghi; Peter Eberhard

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Paper

Disturbance Compensator for a Very Flexible Parallel Lambda Robot in Trajectory Tracking

Topics: Engineering Applications on Robotics and Automation; Mechatronics Systems; Modeling, Simulation and Architecture; Real-Time Systems Control; Robot Design, Development and Control; System Identification; Systems Modeling and Simulation; Systems Modeling and Simulation

In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics ICINCO - Volume 1, 394-401, 2020

Authors: Fatemeh Ansarieshlaghi and Peter Eberhard

Affiliation: Institute of Engineering and Computational Mechanics, University of Stuttgart, Pfaffenwaldring 9, 70569 Stuttgart, Germany

Keyword(s): Flexible Parallel Robot, Position Control, Disturbance Observer, Disturbance Compensator.

Abstract: This research investigates the design of a nonlinear position controller and a disturbance observer to estimate and compensate disturbances on a very flexible parallel robot to improve trajectory tracking and control performance. The used robot has very flexible links and can be considered as an underactuated system since it has fewer control inputs than degrees of freedom for rigid body motions and deformations. Hence, these flexibilities must be taken into account in the control design. To obtain high performance in the end-effector trajectory tracking, an accurate and efficient nonlinear controller is required. This nonlinear controller includes a position controller and a disturbance observer. The nonlinear feedback controller is designed based on the feedback linearization approach and its stability is proofed by the Lyapunov candidate function. The disturbances that are investigated in this work are the friction forces of the drives of the robot, acting forces on the robot’s en d-effector, and their combination. The designed nonlinear controller is implemented on the simulated model of the robot under different disturbances. The simulation results show that the end-effector tracks desired trajectories with higher accuracy and better performance in comparison to other controllers in previous works. Also, by the designed nonlinear position controller and the disturbance observer the robot tracks the desired trajectory with the highest robustness under disturbances in comparison to the previous work. (More)

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Paper citation in several formats:

Ansarieshlaghi, F. and Eberhard, P. (2020). Disturbance Compensator for a Very Flexible Parallel Lambda Robot in Trajectory Tracking. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 394-401. DOI: 10.5220/0009790203940401

@conference{icinco20,
author={Fatemeh Ansarieshlaghi. and Peter Eberhard.},
title={Disturbance Compensator for a Very Flexible Parallel Lambda Robot in Trajectory Tracking},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={394-401},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009790203940401},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Disturbance Compensator for a Very Flexible Parallel Lambda Robot in Trajectory Tracking
SN - 978-989-758-442-8
IS - 2184-2809
AU - Ansarieshlaghi, F.
AU - Eberhard, P.
PY - 2020
SP - 394
EP - 401
DO - 10.5220/0009790203940401
PB - SciTePress