Title :
Adaptive control of electric motors with a flexible load
Author :
Zaremba, Alexander T.
Author_Institution :
Michigan Univ., Ann Arbor, MI, USA
Abstract :
This paper presents a novel adaptive control scheme of a lightweight manipulator arm governed by electric motors. The controller design is based on the dynamic model of the manipulator in a quasi-static approximation and motor equations corrected for the elastic compliance of the plant. A passivity property of the flexible electromechanical system is established and an adaptive motor controller is developed which contains the rigid manipulator controller as a part. Simulation results for a single-link elastic arm confirm the validity and demonstrate advantages of the proposed method
Keywords :
adaptive control; control system synthesis; electric motors; machine control; manipulators; adaptive control; adaptive motor controller; elastic compliance; electric motors; flexible electromechanical system; flexible load; lightweight manipulator arm; passivity property; quasi-static approximation; rigid manipulator controller; single-link elastic arm; Adaptive control; Control systems; DC motors; Electric motors; Electromechanical systems; Equations; Feedback; Manipulator dynamics; Programmable control; Robot control;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.532744
