Control and system identification of a two-link flexible manipulator

Stephen Yurkovich, Anthony P. Tzes, Iewen Lee, Kenneth L. Hillsley

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The problem of endpoint position control for a planar manipulator which has two very flexible links is considered. Discussions on system identification techniques are presented relative to the laboratory apparatus under consideration. The resulting models are used in static and dynamic fixed-controller designs, as well as in a self-tuning controller design for the case in which the manipulator carries an unknown payload at the endpoint of the second link. Experimental results are presented to illustrate the effectiveness of the control and system identification.

Original languageEnglish (US)
Title of host publicationProc 1990 IEEE Int Conf Rob Autom
PublisherPubl by IEEE
Pages1626-1631
Number of pages6
ISBN (Print)0818620617
StatePublished - 1990
EventProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
Duration: May 13 1990May 18 1990

Publication series

NameProc 1990 IEEE Int Conf Rob Autom

Other

OtherProceedings of the 1990 IEEE International Conference on Robotics and Automation
CityCincinnati, OH, USA
Period5/13/905/18/90

ASJC Scopus subject areas

  • Engineering(all)

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