Bibliographic Details
| Title: |
On Controlling Tuning for a Flexible-Link Manipulator with Varying Payload. |
| Authors: |
Yurkovich, Stephen1, Pacheco, Fernando E.1 |
| Source: |
Journal of Robotic Systems. Jun89, Vol. 6 Issue 3, p233-254. 22p. |
| Subjects: |
Manipulators (Machinery), Links & link-motion, Load factor design, Range of motion of joints, Stochastic systems, Parameter estimation, Robot motion, Robot dynamics |
| Abstract: |
In this article experimental results are presented for system identification and control of a single-link flexible manipulator carrying an unknown, varying payload. The control objective is to maintain endpoint position accuracy in the presence of flexure effects after rapid movement due to a rigid body slew-angle commanded position. Various time-domain parameter estimation techniques are used to identify ARMA model representations to be employed in controller tuning schemes for vibration compensation. Only endpoint acceleration measurements and motor shaft angle measurements are utilized in relatively simple PID control schemes, which are tuned as dictated by a varying, unknown payload. [ABSTRACT FROM AUTHOR] |
|
Copyright of Journal of Robotic Systems is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) |
| Database: |
Engineering Source |
