A fast on-line algebraic estimation of a single-link flexible arm applied to GPI control

2006 ◽  
Author(s):  
J. Becedas ◽  
J.R. Trapero ◽  
G. Mamani ◽  
H. Sira-Ramirez ◽  
V. Feliu-Battle
Keyword(s):  
Flexible Arm ◽  
Single Link ◽  
On Line ◽  
Gpi Control

Identification of Flexible Link Dynamics Using Neural Networks

1992 ◽  
Author(s):  
Lawrence D’Arcangelis ◽  
Satish S. Nair
Keyword(s):  
Neural Networks ◽  
Dynamic Systems ◽  
Time Scale ◽  
Flexible Link ◽  
Preliminary Results ◽  
Flexible Arm ◽  
Single Link ◽  
On Line ◽  
And Control

Abstract Multilayered neural networks have found widespread use in the identification and control of dynamic systems. This study considers modeling issues for two time scale systems using neural networks for reliably estimating gradients for on-line control purposes. A structure for identification of a single link flexible arm is proposed and preliminary results are presented.

Force control of a very lightweight single-link flexible arm based on coupling torque feedback

Mechatronics ◽  
2009 ◽  
Vol 19 (3) ◽  
pp. 334-347 ◽  
Author(s):  
Ismael Payo ◽  
Vicente Feliu ◽  
Osvaldo Daniel Cortázar
Keyword(s):  
Force Control ◽  
Flexible Arm ◽  
Single Link

Control of Flexible Beam with Unmodelled Dynamics Using Second-Order Pole Placement and LQR Techniques

2013 ◽  
Vol 393 ◽  
pp. 675-682 ◽  
Author(s):  
Z.A. Rahman ◽  
A.A. Mat Isa ◽  
Haydar H. Ali ◽  
M.A. Anuar
Keyword(s):  
Nonholonomic Constraints ◽  
Second Order ◽  
Pole Placement ◽  
Flexible Beam ◽  
Flexible Link ◽  
Intrinsic Nature ◽  
Order Pole ◽  
Flexible Arm ◽  
Single Link ◽  
Mechanical Devices

Control of a flexible beam such as that in flexible-link robot manipulators in many mechanical devices is very challenging, due in part to its intrinsic nature of unmodelled dynamics in a system. Such a system is said to be subjected to nonholonomic constraints, hence its feedback control is difficult to realize. This paper presents the application of control design based on second-order pole placement and LQR approaches to a single-link flexible robotic arm. In this case, a controller considering the flexibility of highly-flexible arm is employed to suppress the tip vibration of the manipulator. The effectiveness of the method is verified through computer simulations and consequently, the adequateness of the control performance and the feasibility of the system with a super-light link are shown.

Neural-Network Based Learning Control of Flexible Mechanism With Application to a Single-Link Flexible Arm

1994 ◽  
Vol 116 (4) ◽  
pp. 792-795 ◽  
Author(s):  
Kazuhiko Takahashi ◽  
Ichiro Yamada
Keyword(s):  
Neural Network ◽  
Angular Position ◽  
Target System ◽  
Space Representation ◽  
Robot Arm ◽  
Flexible Robot ◽  
Neural Network Controller ◽  
Flexible Arm ◽  
Single Link ◽  
Flexible Mechanism

This paper shows the effectiveness of a neural-network controller for controlling a flexible mechanism such as a flexible robot arm. An adaptive-type direct neural controller is formulated using state-space representation of the dynamics of the target system. The characteristics of the controller are experimentally investigated by using it to control the tip angular position of a single-link flexible arm.

scholarly journals Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Juan Carlos Cambera ◽  
Andres San-Millan ◽  
Vicente Feliu-Batlle
Keyword(s):  
Frequency Domain ◽  
Design Methodology ◽  
Vertical Plane ◽  
Sensor Noise ◽  
Online Identification ◽  
Flexible Arm ◽  
Single Link ◽  
Identification Approach ◽  
Payload Mass ◽  
Mass Identification

We deal with the online identification of the payload mass carried by a single-link flexible arm that moves on a vertical plane and therefore is affected by the gravity force. Specifically, we follow a frequency domain design methodology to develop an algebraic identifier. This identifier is capable of achieving robust and efficient mass estimates even in the presence of sensor noise. In order to highlight its performance, the proposed estimator is experimentally tested and compared with other classical methods in several situations that resemble the most typical operation of a manipulator.

scholarly journals Experimental dual-mode control of a flexible robotic arm

Robotica ◽  
1992 ◽  
Vol 10 (2) ◽  
pp. 135-145 ◽  
Author(s):  
Woosoon Yim ◽  
Jichun Zuang ◽  
Sahjendra Singh
Keyword(s):  
Target Position ◽  
Terminal State ◽  
Pole Placement ◽  
Robotic Arm ◽  
Dual Mode ◽  
Elastic Mode ◽  
Single Link ◽  
On Line ◽  
Feedforward Controller ◽  
Placement Technique

SUMMARYThis paper focuses on the implementation of a dual-mode controller for the maneuver of a single link flexible robotic arm. The joint angle trajectory tracking is accomplished by a proportional and derivative PD and a feedforward controller. Based on the pole placement technique, a linear stabilizer is designed for elastic mode stabilization. The stabilizer is switched on when the trajectory reaches the vicinity of the terminal state, and the effect of switching time on arm vibration is investigated. An optical deflection sensor is used for on-line measurements of elastic deflections, and also used for the prediction of the static deflection of the arm in the target position. The robustness of the linear stabilizer at varying pay loads is presented.

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