Noncollocated Sensor Effect on Flexible Robot Control and Stability

A. Green and J.Z. Sasiadek (Canada)


Flexible Robot, Sensor Location, Fuzzy Control


The effect of noncollocated sensors on a flexible robot is simulated using a Jacobian transpose proportional derivative (JTPD) and fuzzy logic system (FLS) adaptive JTPD control strategies. Trajectories are obtained to compare sensors collocated at the robot joints, noncollocated at the end effector and at 2.25m from the end effector. Collocated joint sensors fail to capture nonminimum phase (NMP) response while noncollocated sensors capture NMP response but cause control action delays. A feedback loop time delay simulates NMP response and a forward loop time delay is applied in an attempt to correct control action. Results show FLS adaptive JTPD control provides greater tracking accuracy regardless of sensor location, particularly noncollocated at the end effector, despite hyperstability constraints. Stability is achieved for all sensor locations.

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