On Controlling Tuning for a Flexible-Link Manipulator with Varying Payload.
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| 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 |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 13355396 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: On Controlling Tuning for a Flexible-Link Manipulator with Varying Payload. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Yurkovich%2C+Stephen%22">Yurkovich, Stephen</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Pacheco%2C+Fernando+E%2E%22">Pacheco, Fernando E.</searchLink><relatesTo>1</relatesTo> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Journal+of+Robotic+Systems%22">Journal of Robotic Systems</searchLink>. Jun89, Vol. 6 Issue 3, p233-254. 22p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Manipulators+%28Machinery%29%22">Manipulators (Machinery)</searchLink><br /><searchLink fieldCode="DE" term="%22Links+%26+link-motion%22">Links & link-motion</searchLink><br /><searchLink fieldCode="DE" term="%22Load+factor+design%22">Load factor design</searchLink><br /><searchLink fieldCode="DE" term="%22Range+of+motion+of+joints%22">Range of motion of joints</searchLink><br /><searchLink fieldCode="DE" term="%22Stochastic+systems%22">Stochastic systems</searchLink><br /><searchLink fieldCode="DE" term="%22Parameter+estimation%22">Parameter estimation</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+motion%22">Robot motion</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+dynamics%22">Robot dynamics</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: 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] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>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.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1002/rob.4620060304 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 22 StartPage: 233 Subjects: – SubjectFull: Manipulators (Machinery) Type: general – SubjectFull: Links & link-motion Type: general – SubjectFull: Load factor design Type: general – SubjectFull: Range of motion of joints Type: general – SubjectFull: Stochastic systems Type: general – SubjectFull: Parameter estimation Type: general – SubjectFull: Robot motion Type: general – SubjectFull: Robot dynamics Type: general Titles: – TitleFull: On Controlling Tuning for a Flexible-Link Manipulator with Varying Payload. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Yurkovich, Stephen – PersonEntity: Name: NameFull: Pacheco, Fernando E. IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 06 Text: Jun89 Type: published Y: 1989 Identifiers: – Type: issn-print Value: 07412223 Numbering: – Type: volume Value: 6 – Type: issue Value: 3 Titles: – TitleFull: Journal of Robotic Systems Type: main |
| ResultId | 1 |
