Sliding DFT-Based Vibration Mode Estimator for Single-Link Flexible Manipulator

An estimation method based on sliding discrete Fourier transform (SDFT) integrated with phase-locked loop is introduced for vibration mode estimation of single-link flexible manipulator (SLFM). Based on Euler-Lagrangian state space model and first vibration mode frequency, SDFT PLL is designed to estimate first vibration mode and harmonics that appear in tip deflection. Instantaneous change in tip deflection due to payload conditions is tracked by adaptive sampling frequency control. State-space model, estimated amplitudes and frequencies of tip deflection including harmonics are validated through experiments. Furthermore, experimental investigation on SLFM demonstrates the effectiveness of online vibration mode estimation method in presence of noise and offset.

[1]  Jonathan Becedas,et al.  Adaptive Controller for Single-Link Flexible Manipulators Based on Algebraic Identification and Generalized Proportional Integral Control , 2009, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[2]  P. Sumathi,et al.  Integrated Phase-Locking Scheme for SDFT-Based Harmonic Analysis of Periodic Signals , 2008, IEEE Transactions on Circuits and Systems II: Express Briefs.

[3]  Prabhakar Kudva,et al.  Load-adaptive control of a single-link flexible manipulator , 1992, IEEE Trans. Syst. Man Cybern..

[4]  Heinz Unbehauen,et al.  A neurofuzzy approach to the control of a flexible-link manipulator , 2002, IEEE Trans. Robotics Autom..

[5]  L. Ljung,et al.  Subspace-based multivariable system identification from frequency response data , 1996, IEEE Trans. Autom. Control..

[6]  Vicente Feliu,et al.  Integral Resonant Control for Vibration Damping and Precise Tip-Positioning of a Single-Link Flexible Manipulator , 2011, IEEE/ASME Transactions on Mechatronics.

[7]  S.O.R. Moheimani,et al.  Precise Tip Positioning of a Flexible Manipulator Using Resonant Control , 2008 .

[8]  Ming Hou,et al.  Amplitude and frequency estimator of a sinusoid , 2005, IEEE Transactions on Automatic Control.

[9]  Khashayar Khorasani,et al.  Experimental results on discrete-time nonlinear adaptive tracking control of a flexible-link manipulator , 2000, IEEE Trans. Syst. Man Cybern. Part B.

[10]  Peter Eberhard,et al.  DYNAMIC ANALYSIS OF FLEXIBLE MANIPULATORS, A LITERATURE REVIEW , 2006 .

[11]  Weiliang Xu,et al.  Vibration control for a flexible-link robot arm with deflection feedback , 2003 .

[12]  Romeo Ortega,et al.  A globally convergent frequency estimator , 1999, IEEE Trans. Autom. Control..

[13]  Jonathan Becedas,et al.  Generalised proportional integral torque control for single-link flexible manipulators , 2010 .

[14]  Prabhakar Kudva,et al.  Adaptive control of a single-link flexible manipulator with unknown load , 1991 .

[15]  Concepción A. Monje,et al.  Tip position control of a lightweight flexible manipulator using a fractional order controller , 2007 .

[16]  Vicente Feliu,et al.  Concurrent Design of Multimode Input Shapers and Link Dynamics for Flexible Manipulators , 2010, IEEE/ASME Transactions on Mechatronics.

[17]  H. Sira-Ramírez,et al.  A fast on-line frequency estimator of lightly damped vibrations in flexible structures , 2007 .

[18]  Guoli Wang,et al.  Integrated sensing and filter design for a single-link flexible manipulator , 2004, IEEE Transactions on Robotics and Automation.

[19]  A. K. Ziarani,et al.  A method of extraction of nonstationary sinusoids , 2004, Signal Process..

[20]  Amor Jnifene,et al.  Experimental study on active vibration control of a single-link flexible manipulator using tools of fuzzy logic and neural networks , 2005, IEEE Transactions on Instrumentation and Measurement.

[21]  Rajnikant V. Patel,et al.  End-point control of a flexible-link manipulator: theory and experiments , 1997, IEEE Trans. Control. Syst. Technol..

[22]  Youngjin Choi,et al.  A Trajectory Planning Method for Output Tracking of Linear Flexible Systems Using Exact Equilibrium Manifolds , 2010, IEEE/ASME Transactions on Mechatronics.

[23]  Vicente Feliú Batlle,et al.  An algebraic frequency estimator for a biased and noisy sinusoidal signal , 2007, Signal Process..