Title :
Pattern Matching Algorithm for Identification of Load Mass of an Elastic Robot Arm
Author :
Ameri, M. ; Kumar, K.S.P.
Author_Institution :
Robbins and Myers, Hopkins, MN 55343
Abstract :
Fast response and energy efficiency considerations suggest a light weight robot arm. However, if heavy loads are carried, the arm must be considered elastic in designing a controller. An adaptive controller is desired if the arm carries loads of varying mass. The paper discusses a pattern matching algorithm for identifying the mass of the load.
Keywords :
Adaptive control; Damping; Eigenvalues and eigenfunctions; Elasticity; Energy efficiency; Lighting control; Pattern matching; Programmable control; Robots; Weight control;
Conference_Titel :
American Control Conference, 1988
Conference_Location :
Atlanta, Ga, USA
