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On controller tuning for a flexible-link manipulator with varying payloadIn 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.
Document ID
19890053736
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Yurkovich, Stephen
(Ohio State Univ. Columbus, OH, United States)
Pachecho, Fernando E.
(Ohio State University Columbus, United States)
Date Acquired
August 14, 2013
Publication Date
June 1, 1989
Publication Information
Publication: Journal of Robotic Systems
Volume: 6
ISSN: 0741-2223
Subject Category
Cybernetics
Accession Number
89A41107
Funding Number(s)
CONTRACT_GRANT: NAG1-720
Distribution Limits
Public
Copyright
Other

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