Title :
Predictive controller design for flexible link manipulator
Author :
Shipitko, I.A. ; Zmeu, Konsnantin V.
Abstract :
The manipulating system of modern high-speed industrial robot may often contain the links with lowered mechanical rigidity. As the result, such a manipulating system possesses the increased level of vibrations and link´s deformations under it´s own weight and load. This leads to additional trajectory control and positioning error of the manipulator arm. So the control of flexible links manipulator is a complex problem. The control algorithm for the flexible link manipulator is offered for further explores. The algorithm is build with the use of model predictive control technique.
Keywords :
difference equations; flexible manipulators; industrial manipulators; manipulator dynamics; position control; predictive control; state-space methods; controller design; difference equation; flexible link manipulator; high-speed industrial robot; positioning; predictive controller design; receding horizon principle; state-space equations; trajectory control; two-mass dynamic model; Automatic control; Control systems; Cost function; Equations; Error correction; Mathematical model; Optimized production technology; Predictive models; Robust stability; Sampling methods;
Conference_Titel :
Modern Technique and Technologies, 2002. MTT 2002. Proceedings of the 8th International Scientific and Practical Conference of Students, Post-graduates and Young Scientists
Print_ISBN :
0-7803-7373-1
DOI :
10.1109/SPCMTT.2002.1213731
