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논문 기본 정보
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- 저자정보
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- 대한기계학회 Journal of Mechanical Science and Technology Journal of Mechanical Science and Technology Vol.19 No.1[Special Edition]
- 발행연도
- 2005.1
- 수록면
- 357 - 363 (7page)
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초록· 키워드
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The non-minimum phase characteristic of a flexible manipulator makes tracking control of Its tip difficult The level of the tip tracking performance of a flexible manipulator is significantly affected by the characteristics of the tip reference trajectory as well as the characteristics of the flexible manipulator system This paper addresses the question of how to best specify a reference trajectory for the tip of a flexible manipulator to follow m order to achieve the objectives of reducing tip tracking error, residual tip vibration, and the required actuation effort at the manipulator joint A novel method of tip-based learning controller for the flexible manipulator system is proposed in the paper, where a model of the flexible manipulator system With a command shaping filter is used to generate a smooth and realizable tip reference trajectory for a tip-based learning controller
목차
Abstract
1. Introduction
2. Dynamics of Flexible Manipulator
3. Control Formulation
4. Simulation Results
5. Conclusions
Acknowledgment
References
참고문헌 (7)
참고문헌 신청
Hu, A. -P. and N. Sadegh, 2000, "Non-Colocated Control of a Flexible-Link Manipulator Tip Using a Multirate Repetitive Learning Controller," The 7th Mechatronics Forum International Conference, Atlanta, GA.
Magee, D. P. and Book, W. J., 1998, "Optimal Filtering to Minimize Elastic Behavior in Serial Link Manipulators," Proceedings of the American Control Conference, Philadelphia, PA, pp.2637~ 2642.
Rhim, S., Hu, A. -P., Sadegh, N. and Book, W. J., 2001, "Combining a Multirate Repetitive Learning Controller with Command Shaping for Improved Flexible Manipulator Control," ASME Journal of Dynamic Systems, Measurement, and Control, Vol.123, pp.385~390.
Sadegh, N., Hu, A. -P. and James, C., 2002, "Synthesis, Stability Analysis, and Experimental Implementation of a Multirate Repetitive Learning Controller," ASME Journal of Dynamic Systems, Measurement, and Control, Vol.124, pp.668~674.
Singer, N. C. and Seering, W. P., 1990, "Preshaping Command Inputs to Reduce System Vibration," ASME Journal of Dynamic Systems, Measurement, and Control, Vol.112, pp.76~82.
Magee, D. P. and Book, W. J., 1998, "Optimal Filtering to Minimize Elastic Behavior in Serial Link Manipulators," Proceedings of the American Control Conference, Philadelphia, PA, pp.2637~ 2642.
Rhim, S., Hu, A. -P., Sadegh, N. and Book, W. J., 2001, "Combining a Multirate Repetitive Learning Controller with Command Shaping for Improved Flexible Manipulator Control," ASME Journal of Dynamic Systems, Measurement, and Control, Vol.123, pp.385~390.
Sadegh, N., Hu, A. -P. and James, C., 2002, "Synthesis, Stability Analysis, and Experimental Implementation of a Multirate Repetitive Learning Controller," ASME Journal of Dynamic Systems, Measurement, and Control, Vol.124, pp.668~674.
Singer, N. C. and Seering, W. P., 1990, "Preshaping Command Inputs to Reduce System Vibration," ASME Journal of Dynamic Systems, Measurement, and Control, Vol.112, pp.76~82.
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