Self-tuning control of a two-link manipulator with a flexible forearm
- Purdue Univ., West Lafayette, IN (United States)
The control of the motion of a two-link manipulator with a flexible forearm is studied. The first link is rigid, and the second link has a flexible part as an extension of a rigid part. The motion of the manipulator takes place on a horizontal plane. The dynamics of the two-link manipulator with a flexible forearm are determined in Lagrange's formulation. The positions of specified points on the flexible forearm are obtained from the strain gauge measurements and the positions of the joint variables. The inputs are applied to the actuators of the revolute first joint and the prismatic link. For the controller design, a time series multivariate model of the autoregressive exogenous (ARX) type is used to describe the input/output relation. The discounted least squares method is used to estimate the parameters of the time series model. A self-tuning controller is so designed that the positions of the specified points on the flexible forearm track the given trajectory points. The controller operates on the Cartesian coordinates, which specify the positions of the chosen points on the flexible forearm. Simulation results as well as laboratory experiments on a Stanford/JPL arm controlled by a self-tuning controller are presented to illustrate the approach.
- OSTI ID:
- 6956378
- Journal Information:
- International Journal of Robotics Research; (United States), Journal Name: International Journal of Robotics Research; (United States) Vol. 11:4; ISSN IJRREL; ISSN 0278-3649
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
420200* -- Engineering-- Facilities
Equipment
& Techniques
ACTUATORS
COMPUTERIZED SIMULATION
CONTROL
CONTROL EQUIPMENT
DESIGN
ELECTRIC CONTROLLERS
EQUIPMENT
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
POSITIONING
REMOTE HANDLING EQUIPMENT
ROBOTS
SIMULATION
SYNCHRONIZATION