Title :
Identification and control for a manipulator with two flexible links
Author :
Yurkovich, Stephen ; Hillsley, Kenneth L. ; Tzes, Anthony P.
Author_Institution :
Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
Abstract :
The authors investigate the effectiveness of an online identification scheme for tracking the modal frequencies of a two-link flexible mechanism executing large-angle movements and carrying an unknown payload. A decentralized gain-scheduled adaptive control scheme is employed in conjunction with the identification scheme in order to illustrate the feasibility of online controller adjustment for endpoint position control in terms of vibration suppression after large-angle movements. The motivation for adopting the ARMA perspective is based on the convenient representation for online controller tuning and on the assumption that flexibility dynamics, for small deflections after a nonlinear large-angle motion, exhibit linear behavior. Experimental results are presented for a two-link planar mechanism in which both links are very flexible
Keywords :
adaptive control; decentralised control; distributed parameter systems; identification; large-scale systems; robots; ARMA perspective; decentralized gain-scheduled adaptive control scheme; endpoint position control; large-angle movements; linear flexible dynamics; manipulator; modal frequency tracking; online identification scheme; two-link flexible mechanism; vibration suppression; Adaptive control; Control systems; Nonlinear optics; Position control; Programmable control; Robust control; Servomotors; Tracking; Transfer functions; Vibration control;
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
DOI :
10.1109/CDC.1990.203974
