Discrete-Time Tip Position Control of a Flexible One Arm Robot

[+] Author and Article Information
Sabri Cetinkunt

Department of Mechanical Engineering, University of Illinois at Chicago, Chicago, IL 60680

Sijun Wu

Zenith Controls, Inc., Chicago, IL 60609

J. Dyn. Sys., Meas., Control 114(3), 428-435 (Sep 01, 1992) (8 pages) doi:10.1115/1.2897365 History: Received May 01, 1990; Revised December 01, 1991; Online March 17, 2008


A predictive adaptive control algorithm is developed for tip position control based on the zero-order-hold equivalence of the nondimensionalized dynamic model of a flexible robot arm. A lattice filter is utilized for the purpose of parameter identification. The proposed control scheme provides an optimal output feedback control and, together with the lattice filter parameter identifier, it forms a special self-tuning regulator. It is then compared with other methods, such as linear quadratic Gaussian and stable factorization. A stability criterion for this control algorithm is also presented. The effects of the actuator dynamics on the overall system response and stability are investigated. Actuator dynamics model parameters are chosen from the actual specifications provided by manufacturers.

Copyright © 1992 by The American Society of Mechanical Engineers
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