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Adaptive precompensators for flexible-link manipulator controlThe application of input precompensators to flexible manipulators is considered. Frequency domain compensators color the input around the flexible mode locations, resulting in a bandstop or notch filter in cascade with the system. Time domain compensators apply a sequence of impulses at prespecified times related to the modal frequencies. The resulting control corresponds to a feedforward term that convolves in real-time the desired reference input with a sequence of impulses and produces a vibration-free output. An adaptive precompensator can be implemented by combining a frequency domain identification scheme which is used to estimate online the modal frequencies and subsequently update the bandstop interval or the spacing between the impulses. The combined adaptive input preshaping scheme provides the most rapid slew that results in a vibration-free output. Experimental results are presented to verify the results.
Document ID
19900053843
Document Type
Conference Paper
Authors
Tzes, Anthony P. (Ohio State Univ. Columbus, OH, United States)
Yurkovich, Stephen (Ohio State University Columbus, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
CYBERNETICS
Funding Number(s)
CONTRACT_GRANT: NAG1-720
Distribution Limits
Public
Copyright
Other