Sensor Location Effect on Flexible Robot Stability and Control
Abstract
The effect of sensors located at different points on a flexible robot is simulated using nonadaptive and fuzzy logic system (FLS) adaptive control strategies. Collocated joint encoders fail to capture nonminimum phase (NMP) response while noncollocated position sensors capture NMP response but cause control action delays. A feedback loop time delay simulates NMP response and a forward loop time delay provides corrective control action. Results demonstrate stability for all trajectories obtained with encoders collocated at the robot joints, a position sensor noncollocated at the end effector then with the sensor located at 2.25m from the end effector.
