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 journalArticle

    Abstract

    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.

    Original languageEnglish (US)
    Pages (from-to)1300-1304
    Number of pages5
    JournalIEEE Transactions on Automatic Control
    Volume34
    Issue number12
    DOIs
    StatePublished - Jan 1 1989

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    Robots
    Acceleration measurement
    Position control
    Angle measurement
    Scheduling
    Controllers

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Computer Science Applications
    • Electrical and Electronic Engineering

    Cite this

    On-Line Frequency Domain Information for Control of a Flexible-Link Robot with Varying Payload. / Yurkovich, Stephen; Pacheco, Fernando E.; Tzes, Antonios.

    In: IEEE Transactions on Automatic Control, Vol. 34, No. 12, 01.01.1989, p. 1300-1304.

    Research output: Contribution to journalArticle

    Yurkovich, Stephen ; Pacheco, Fernando E. ; Tzes, Antonios. / On-Line Frequency Domain Information for Control of a Flexible-Link Robot with Varying Payload. In: IEEE Transactions on Automatic Control. 1989 ; Vol. 34, No. 12. pp. 1300-1304.
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