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TECHNICAL PAPERS

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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References

Singer,  N. C., and Seering,  W. P., 1990, “Preshaping Command Inputs to Reduce System Vibration,” ASME J. Dyn. Syst., Meas., Control, 112, No. 1, pp. 76–82.
Magee, D. P., and Book, W. J., 1994, “Filtering Schilling Manipulator Commands to Prevent Flexible Structure Vibration,” Proceedings of the American Control Conference, Baltimore, MA, June 29–July 1, pp. 2538–2542.
Rhim, S., and Book, W. J., 1997, “Vibration Cancellation in Complex Support Structures for Precision Robots,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Dallas, TX, November 16–21, DSC-Vol. 61, pp. 503–509.
Khorrami,  F., Jain,  S., and Tzes,  A., 1994, “Experiments on Rigid-body Based Controllers with Input Preshaping for a Two-link Flexible Manipulator,” IEEE Trans. Rob. Autom., 10, No. 1, pp. 55–65.
Khorrami,  F., Jain,  S., and Tzes,  A., 1995, “Experimental Results on Adaptive Nonlinear Control and Input Preshaping for Multi-link Flexible Manipulators,” Automatica, 31, No. 1, pp. 83–97.
Arimoto, S., 1986, “Mathematical Theory of Learning with Applications to Robot Control,” K. S. Narendra, Ed., Adaptive and Learning Systems, Plenum Press, New York, pp. 379–388.
Moore, K. L., 1993, Iterative Learning Control for Deterministic Systems, Springer-Verlag, London.
Magee, D. P., 1996, “Optimal Arbitrary Time-delay Filtering to Minimize Vibration in Elastic Manipulator Systems,” Ph.D. thesis, Georgia Institute of Technology, Atlanta, GA, Aug.
Rhim, S., and Book, W. J., 2000, “Adaptation of Generalized Time-delay Command Shaper for Flexible Manipulator Control,” Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, Apr. 22–28, pp. 1465–1471.
James, C. D., 1997, “The Design of Robust Multi-rate Repetitive Learning Controllers with Applications to Practical Systems,” Ph.D. thesis, Georgia Institute of Technology, Atlanta, GA, Nov.
James, C., and Sadegh, N., 1999, “Synthesis and Stability of a Multirate Repetitive Learning Controller,” Proceedings of the American Control Conference, San Diego, CA, June 2–4, pp. 358–362.
James, C., Sadegh, N., and Hu, A.-P., 1999, “Synthesis, Stability Analysis, and Experimental Implementation of a Multirate Repetitive Learning Controller,” Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, Sept. 19–23, pp. 653–658.
Sadegh, N., 1991, “Synthesis and Stability Analysis of Repetitive Controllers,” Proceedings of the American Control Conference, Boston, MA, June 26–28, pp. 2634–2639.

Figures

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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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