Adaptive precompensators for flexible-link manipulator control

Antonios Tzes, Stephen Yurkovich

Research output: Contribution to journalConference article

Abstract

The application of input precompensators to flexible manipulators is considered. Frequency domain compensators color the input around the flexible mode locations, resulting in a bandstop or notch filter in cascade with the system. Time domain compensators apply a sequence of impulses at prespecified times related to the modal frequencies. The resulting control corresponds to a feedforward term that convolves in real-time the desired reference input with a sequence of impulses and produces a vibration-free output. An adaptive precompensator can be implemented by combining a frequency domain identification scheme which is used to estimate online the modal frequencies and subsequently update the bandstop interval or the spacing between the impulses. The combined adaptive input preshaping scheme provides the most rapid slew that results in a vibration-free output. Experimental results are presented to verify the results.

Original languageEnglish (US)
Pages (from-to)2083-2088
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume3
StatePublished - Dec 1 1989
EventProceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3) - Tampa, FL, USA
Duration: Dec 13 1989Dec 15 1989

Fingerprint

Notch filters
Manipulator
Impulse
Manipulators
Free Vibration
Compensator
Flexible manipulators
Frequency Domain
Flexible Manipulator
Identification Scheme
Output
Notch
Feedforward
Color
Cascade
Spacing
Time Domain
Update
Filter
Verify

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Adaptive precompensators for flexible-link manipulator control. / Tzes, Antonios; Yurkovich, Stephen.

In: Proceedings of the IEEE Conference on Decision and Control, Vol. 3, 01.12.1989, p. 2083-2088.

Research output: Contribution to journalConference article

@article{065ecb61b9424839b44c209adc6864b5,
title = "Adaptive precompensators for flexible-link manipulator control",
abstract = "The application of input precompensators to flexible manipulators is considered. Frequency domain compensators color the input around the flexible mode locations, resulting in a bandstop or notch filter in cascade with the system. Time domain compensators apply a sequence of impulses at prespecified times related to the modal frequencies. The resulting control corresponds to a feedforward term that convolves in real-time the desired reference input with a sequence of impulses and produces a vibration-free output. An adaptive precompensator can be implemented by combining a frequency domain identification scheme which is used to estimate online the modal frequencies and subsequently update the bandstop interval or the spacing between the impulses. The combined adaptive input preshaping scheme provides the most rapid slew that results in a vibration-free output. Experimental results are presented to verify the results.",
author = "Antonios Tzes and Stephen Yurkovich",
year = "1989",
month = "12",
day = "1",
language = "English (US)",
volume = "3",
pages = "2083--2088",
journal = "Proceedings of the IEEE Conference on Decision and Control",
issn = "0191-2216",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - JOUR

T1 - Adaptive precompensators for flexible-link manipulator control

AU - Tzes, Antonios

AU - Yurkovich, Stephen

PY - 1989/12/1

Y1 - 1989/12/1

N2 - The application of input precompensators to flexible manipulators is considered. Frequency domain compensators color the input around the flexible mode locations, resulting in a bandstop or notch filter in cascade with the system. Time domain compensators apply a sequence of impulses at prespecified times related to the modal frequencies. The resulting control corresponds to a feedforward term that convolves in real-time the desired reference input with a sequence of impulses and produces a vibration-free output. An adaptive precompensator can be implemented by combining a frequency domain identification scheme which is used to estimate online the modal frequencies and subsequently update the bandstop interval or the spacing between the impulses. The combined adaptive input preshaping scheme provides the most rapid slew that results in a vibration-free output. Experimental results are presented to verify the results.

AB - The application of input precompensators to flexible manipulators is considered. Frequency domain compensators color the input around the flexible mode locations, resulting in a bandstop or notch filter in cascade with the system. Time domain compensators apply a sequence of impulses at prespecified times related to the modal frequencies. The resulting control corresponds to a feedforward term that convolves in real-time the desired reference input with a sequence of impulses and produces a vibration-free output. An adaptive precompensator can be implemented by combining a frequency domain identification scheme which is used to estimate online the modal frequencies and subsequently update the bandstop interval or the spacing between the impulses. The combined adaptive input preshaping scheme provides the most rapid slew that results in a vibration-free output. Experimental results are presented to verify the results.

UR - http://www.scopus.com/inward/record.url?scp=0024942155&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0024942155&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0024942155

VL - 3

SP - 2083

EP - 2088

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

SN - 0191-2216

ER -