On controller tuning for a flexible-link manipulator with varying payload

In this article experimental results are presented for system identification and control of a single-link flexible manipulator 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. Various time-domain parameter estimation techniques are used to identify ARMA model representations to be employed in controller tuning schemes for vibration compensation. Only endpoint acceleration measurements and motor shaft angle measurements are utilized in relatively simple PID control schemes, which are tuned as dictated by a varying, unknown payload.

[1]  Debasis Mitra,et al.  End-point sensing and load-adaptive control of a flexible robot arm , 1985, 1985 24th IEEE Conference on Decision and Control.

[2]  Hideaki Kanoh,et al.  Vibration control of one-link flexible arm , 1985, 1985 24th IEEE Conference on Decision and Control.

[3]  Winston L. Nelson,et al.  Load estimation and load-adaptive optimal control for a flexible robot arm , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[4]  R. H. Cannon,et al.  Experiments Toward On-Line Identification and Control of a Very Flexible One-Link Manipulator , 1987 .

[5]  Wayne J. Book,et al.  A linear dynamic model for flexible robotic manipulators , 1986, IEEE Control Systems Magazine.

[6]  R. H. Cannon,et al.  Initial Experiments on the End-Point Control of a Flexible One-Link Robot , 1984 .

[7]  J. Yuh,et al.  Application of discrete-time model reference adaptive control to a flexible single-link robot , 1987, J. Field Robotics.

[8]  Stephen Yurkovich,et al.  Acceleration feedback for control of a flexible manipulator arm , 1988, J. Field Robotics.

[9]  U. Ozguner,et al.  Laboratory facility for flexible structure control experiments , 1988, IEEE Control Systems Magazine.

[10]  Rangasami L. Kashyap,et al.  Pseudolinks and the self-tuning control of a nonrigid link mechanism , 1988, IEEE Trans. Syst. Man Cybern..

[11]  Rolf Isermann,et al.  A parameter-adaptive PID-controller with stepwise parameter optimization , 1984, at - Automatisierungstechnik.

[12]  Anthony Tzes,et al.  Flexible manipulator control experiments and analysis , 1987 .

[13]  Eduardo Bayo,et al.  Computed torque for the position control of open-chain flexible robots , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[14]  Wayne J. Book,et al.  Experiments in optimal control of a flexible arm , 1985 .

[15]  G. F. Franklin,et al.  Experiments in load-adaptive control of a very flexible one-link manipulator , 1988, Autom..