Adaptive Control of a Flexible-Link Robotic Manipulator with Unknown Payload Dynamics

Alder, Lawrence J.; Rock, Stephen M.

doi:10.23919/acc.1993.4793249

Cited by 10 publications

(2 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The order of the model was reduced using modal truncation. Details of how the model was generated as well as validation of the model against experimental data are provided in Alder (1993). Appendix A gives the numerical values of matrices A, B, etc., for both a rigid-body and a one-dynamic-payload configuration.…”

Section: Equations Of Motionmentioning

confidence: 99%

See 1 more Smart Citation

Experiments in Control of a Flexible-Link Robotic Manipulator With Unknown Payload Dynamics: An Adaptive Approach

Alder

Rock

1994

The International Journal of Robotics Research

Self Cite

View full text Add to dashboard Cite

This article presents technology that extends the concept of end-point control of a flexible-link robot arm to handle payloads with unknown internal dynamics. The approach is based on merging high-performance control with an innovative identification algorithm in a self-tuning regulator framework. Payload dynamics are identified in real time using recently developed subspace fitting techniques. Sufficient excitation issues are addressed. End-point feedback controllers are formulated using frequency-weighted linear quadratic gaussian design methods.Experimental results demonstrating precision control of a very flexible single-link robot arm with unknown dynamic payloads are presented.

show abstract

Section: Equations Of Motionmentioning

confidence: 99%

“…Figure 15 shows an example plot. By looking at the singular value plot, a noise floor can be established (see Alder [1993] for details on calculating the noise floor). The number of singular values above the noise floor is the order of the excited dynamics.…”

Section: Eigenvalue Identificationmentioning

confidence: 99%