TY - JOUR
T1 - On-Line Frequency Domain Information for Control of a Flexible-Link Robot with Varying Payload
AU - Yurkovich, Stephen
AU - Pacheco, Fernando E.
AU - Tzes, Anthony P.
N1 - Copyright:
Copyright 2015 Elsevier B.V., All rights reserved.
PY - 1989/12
Y1 - 1989/12
N2 - This note presents experimental results for 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 employed for on-line 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 as correlated to modal frequency information corresponding to a varying, unknown payload.
AB - This note presents experimental results for 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 employed for on-line 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 as correlated to modal frequency information corresponding to a varying, unknown payload.
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U2 - 10.1109/9.40782
DO - 10.1109/9.40782
M3 - Article
AN - SCOPUS:0024908265
VL - 34
SP - 1300
EP - 1304
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
SN - 0018-9286
IS - 12
ER -