Volume 40 Issue 5
May. 2023
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JOURNAL OF MECHANICAL ENGINEERING  > 2023  >  44(5): 513-524.
OU Jingsong, LI Rong, YIN Hui, WANG Huajian. Research on Constraint Following Control of Flexible Joint Manipulators Based on Singular Perturbation[J]. JOURNAL OF MECHANICAL ENGINEERING, 2023, 44(5): 513-524. doi: 10.21656/1000-0887.430024
Citation: OU Jingsong, LI Rong, YIN Hui, WANG Huajian. Research on Constraint Following Control of Flexible Joint Manipulators Based on Singular Perturbation[J]. JOURNAL OF MECHANICAL ENGINEERING, 2023, 44(5): 513-524. doi: 10.21656/1000-0887.430024
shu

Research on Constraint Following Control of Flexible Joint Manipulators Based on Singular Perturbation

doi: 10.21656/1000-0887.430024

  • College of Mechanical and Vehicle Engineering， Hunan University， Changsha 410082, P.R.China

Funds:

The National Natural Science Foundation of China(52105096)

  • Received Date: 31 Jan 2022
  • Rev Recd Date: 29 Apr 2023
    • Available Online: 31 May 2023
    Abstract
  • For the control of 2-link flexible joint manipulators, a control method based on the singular perturbation theory and the Udwadia-Kalaba (U-K) method was proposed. The control design was implemented by 2 steps. First, the system order was reduced based on the singular perturbation method and the system was divided into fast and slow sub-systems, to simplify the solution process and overcome the system flexibility. Second, the state feedback constraint following control law for the fast and slow sub-systems was designed with the U-K method, to make the constraint following errors of the fast and slow sub-systems converge to zero, even if the system can't initially satisfy the constraints. The proposed method can deal with holonomic and nonholonomic servo constraints at the same time without the auxiliary variables of the Lagrange multiplier and the pseudo generalized velocity. The method was applied to 2-link flexible joint manipulator systems to solve the flexible oscillation and constraint following problems through simulations on MATLAB, and was compared with the traditional PID control, to verify the effectiveness and superiority.

     

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