Tip position control of a flexible one-arm robot with predictive adaptive output feedback implemented with lattice filter parameter identifier

Cetinkunt, Sabri; Wu, Sijun

doi:10.1016/0045-7949(90)90281-6

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Year Published

1995

2013

Publication Types

Select...

Book3

Article2

Relationship

Self Cite0

Independent5

Authors

Journals

Cited by 7 publications

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

A composite adaptive control with flexible quantity feedback for flexible-link manipulators

Lin

Yeh

1996

J. Robotic Syst.

View full text Add to dashboard Cite

This article presents a mixture of joint subsystem‐based adaptive control and simple flexible quantity feedback for flexible‐link manipulators. The complex full flexible‐arm system is composed of two severely coupling subsystems called the joint subsystem and flexible subsystem. Linear parametrization is first used to design an adaptive law for identifying the unknown parameters of a flexible manipulator based only on the joint subsystem. Joint‐angle trajectory tracking can thus be achieved using the derived stable nonlinear adaptive control with the estimates of unknown parameters. To stabilize the flexible subsystem, we can simply add the feedback of transversal acceleration or deflection at the end point and/or along the flexible beam. The suggested approach is much simpler than those based on the full dynamics model of a flexible arm in required computations. Computer simulations on a single‐link and a two‐link flexible arm are tested to illustrate the validity of the strategy for both trajectory tracking and active damping. © 1996 John Wiley & Sons, Inc.

show abstract