The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

A method for controlling single-link, lightweight, flexible manipulators is proposed. The objective of this method is to control the tip position of the flexible manipulator in the presence of joint friction and changes in the payload. Both linear and nonlinear friction are overcome using a very robust control scheme that is based on two nested feedback loops: an inner loop to control the position of the motor and an outer loop to control the tip position. Changes in the load are compensated by decoupling the dynamics of the system and then applying a very simple adaptive control for the tip position. This results in a quite simple control law that requires minimal computing effort and thus can be used for real-time control of flexible arms.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

V. Feliu, K.S. Rattan, and H. Benjamin Brown, "Adaptive control of a single-link flexible manipulator in the presence of joint friction and load changes," Proceedings of the 1989 IEEE International Conference on Robotics and Automation (ICRA '89), May, 1989, pp. 1036 - 1041.

BibTeX Reference

@inproceedings{Brown_1989_3521,
   author = "V. Feliu and K.S. Rattan and H. Benjamin Brown",
   title = "Adaptive control of a single-link flexible manipulator in the presence of joint friction and load changes",
   booktitle = "Proceedings of the 1989 IEEE International Conference on Robotics and Automation (ICRA '89)",
   pages = "1036 - 1041",
   month = "May",
   year = "1989",
   volume = "2",
}

The Robotics Institute

Menu