Adaptive control of a single-link flexible manipulator - Robotics Institute Carnegie Mellon University

Adaptive control of a single-link flexible manipulator

V. Feliu, K. S. Rattan, and H. Benjamin Brown
Magazine Article, IEEE Control Systems Magazine, Vol. 10, No. 2, pp. 29 - 33, February, 1990
View Publication

Abstract

A method for controlling single-link lightweight flexible manipulators is proposed. The objective is to control the tip position of the flexible manipulator in the presence of joint friction and changes in payload. Both linear and nonlinear frictions are overcome by using a very robust control scheme for flexible manipulators. The control scheme is based on two nested feedback loops: an inner loop, to control the position of the motor, and an outer loop, to control the tip position. Compensation for changes in load is achieved by decoupling the dynamics of the system and then applying a very simple adaptive control for the tip position. This results in a simple control law that needs minimal computing effort and, thus, can be used for real-time control of the flexible arms.

BibTeX

@periodical{Feliu-1990-13078,
author = {V. Feliu and K. S. Rattan and H. Benjamin Brown},
title = {Adaptive control of a single-link flexible manipulator},
journal = {IEEE Control Systems Magazine},
year = {1990},
month = {February},
pages = {29 - 33},
volume = {10},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.