A singular perturbation approach to control of lightweight flexible manipulators
International Journal of Robotics Research
Singular Perturbation Methods in Control: Analysis and Design
Singular Perturbation Methods in Control: Analysis and Design
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A robot with distributed flexibility in the links and lumped flexibilityin the joints is considered in this paper. First the model of the system infree motion is formulated as a set of ordinary differential equations,adopting a finite number of modes of the link deformation. Then algebraicconstraint equations on the generalized coordinates of the system are added,to account for the loss of degrees of freedom due to the contact with rigidenvironment. A reduced order model, expressed in the residual degrees offreedom is then derived, based on a coordinate partitioning procedure. Thesingularly perturbed model of the system is finally computed, and theexpression of the fast subsystem is given. The special cases of a robot withrigid joints or rigid links are also addressed.