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

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