On-line frequency domain information for control of a flexible-link robot with varying payload

Stephen Yurkovich, Fernando E. Pacheco, Antonios Tzes

Research output: Contribution to conferencePaper

Abstract

The authors present experimental results on endpoint position control of a single-link, very flexible robot arm 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. Fast, simple, and efficient frequency-domain schemes are used for online controller gain adjustment within an effective scheduling framework. Only endpoint acceleration measurements and motor shaft angle measurements are utilized in relatively simple control laws, where the appropriate gains have been scheduled in accordance with modal frequency information corresponding to a varying, unknown payload.

Original languageEnglish (US)
Pages876-881
Number of pages6
StatePublished - Dec 1 1989
EventIEEE International Conference on Robotics and Automation - 1989 - Scottsdale, AZ, USA
Duration: May 14 1989May 19 1989

Other

OtherIEEE International Conference on Robotics and Automation - 1989
CityScottsdale, AZ, USA
Period5/14/895/19/89

ASJC Scopus subject areas

  • Engineering(all)

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