Identification and control for a manipulator with two flexible links

Stephen Yurkovich, Kenneth L. Hillsley, Antonios Tzes

    Research output: Contribution to journalConference article

    Abstract

    The authors investigate the effectiveness of an online identification scheme for tracking the modal frequencies of a two-link flexible mechanism executing large-angle movements and carrying an unknown payload. A decentralized, gain-scheduled, adaptive control scheme is employed in conjunction with the identification scheme in order to illustrate the feasibility of online controller adjustment for endpoint position control in terms of vibration suppression after large-angle movements. Motivation for adopting the autoregressive-moving-average-model perspective is based on the convenient representation for online controller tuning and on the assumption that flexibility dynamics, for small deflections after a nonlinear large-angle motion, exhibit linear behavior. Experimental results are presented for a two-link planar mechanism in which both links are very flexible.

    Original languageEnglish (US)
    Pages (from-to)1995-2000
    Number of pages6
    JournalProceedings of the IEEE Conference on Decision and Control
    Volume4
    StatePublished - Dec 1 1990
    EventProceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6) - Honolulu, HI, USA
    Duration: Dec 5 1990Dec 7 1990

    Fingerprint

    Manipulator
    Manipulators
    Identification Scheme
    Angle
    Controllers
    Position control
    Controller
    Vibration Suppression
    Autoregressive Moving Average Model
    Position Control
    Tuning
    Adaptive Control
    Deflection
    Decentralized
    Adjustment
    Flexibility
    Unknown
    Motion
    Experimental Results
    Movement

    ASJC Scopus subject areas

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

    Cite this

    Identification and control for a manipulator with two flexible links. / Yurkovich, Stephen; Hillsley, Kenneth L.; Tzes, Antonios.

    In: Proceedings of the IEEE Conference on Decision and Control, Vol. 4, 01.12.1990, p. 1995-2000.

    Research output: Contribution to journalConference article

    Yurkovich, Stephen ; Hillsley, Kenneth L. ; Tzes, Antonios. / Identification and control for a manipulator with two flexible links. In: Proceedings of the IEEE Conference on Decision and Control. 1990 ; Vol. 4. pp. 1995-2000.
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