Title :
The control method of a flexible robot manipulator using parameter estimation
Author :
Jeongil, Park ; Chongkug, Park
Author_Institution :
DaeLim Junior Coll., Kyunggi, South Korea
Abstract :
This paper deals with the adaptive control of a one-link flexible robot manipulator. ARMA model is used as a prediction and estimation model. The parameter estimation part estimates ARMA model´s coefficients using the recursive least-squares algorithm and generates the predicted output. Forgetting factor is introduced to achieve an efficient estimation
Keywords :
adaptive control; autoregressive moving average processes; least squares approximations; parameter estimation; robots; ARMA model; adaptive control; flexible robot manipulator; forgetting factor; one-link flexible robot; parameter estimation; prediction model; recursive least-squares algorithm; Adaptive control; Communication system control; Costs; Differential equations; Energy efficiency; Manipulators; Parameter estimation; Predictive models; Programmable control; Service robots;
Conference_Titel :
SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers
Conference_Location :
Hokkaido
Print_ISBN :
0-7803-2781-0
DOI :
10.1109/SICE.1995.526648
