Combining a Multirate Repetitive Learning Controller With Command Shaping for Improved Flexible Manipulator Control

[+] Author and Article Information
Sungsoo Rhim, Ai-Ping Hu

CAMotion, Inc. Atlanta, GA 30318

Nader Sadegh, Wayne J. Book

School of Mechanical Engineering Georgia Institute of Technology Atlanta, GA 30332

J. Dyn. Sys., Meas., Control 123(3), 385-390 (Feb 10, 1999) (6 pages) doi:10.1115/1.1387445 History: Received February 10, 1999
Copyright © 2001 by ASME
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Conceptual block diagram with command shaping and a MRLC
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Schematic diagram of the gantry robot with a flexible link
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Implementation of command shaping
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Multirate repetitive learning controller
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Block diagram of actual control system implemented
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Bode plots of Yj(z)/Ydf(z) for “PID only” case and “PD and Learning” case
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Picture of the test bed: gantry robot with a single flexible link
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Desired position, velocity, and acceleration
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Comparison of joint error using four different control algorithms
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Comparison of tip acceleration using four different control algorithms




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