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Wave-based tracking control of a flexible arm using lumped model
Yang TW(杨唐文); Han JD(韩建达); Qin Y(秦勇)
Department机器人学研究室
Conference Name3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014
Conference DateNovember 6-8, 2014
Conference PlaceBeijing, China
Source PublicationAdvances in Intelligent Systems and Computing
PublisherSpringer Verlag
Publication PlaceBerlin
2014
Pages77-88
Indexed ByEI ; CPCI(ISTP)
EI Accession number20154001333139
WOS IDWOS:000380533900008
Contribution Rank2
ISSN2194-5357
ISBN978-3-319-16840-1
KeywordFlexible Robotic Arm Lumped Model Tracking Control Wave Absorption
AbstractA wave control is presented to suppress vibration at the distal end of a flexible robotic arm while achieving accurate tracking control. It assumes the arm with an actuator at one end and a load at the other, and interprets the arm’s dynamics with a lumped model in terms of mechanical waves entering and leaving the arm at the actuator-arm interface. Control input to the actuator is then resolved into two superposed waves, which the actuator launches and absorbs simultaneously. From the motion start-up, the launch wave is assigned to the actuator, to which the absorbing wave is added. The absorbing wave is computed with the delayed tip motion. It absorbs the vibratory energy within the arm, and prevents the wave returning from the arm tip from entering the control system again. The control system’s properties are investigated, and it works pretty well for trajectory tracking control, as demonstrated in the numerical results. © Springer International Publishing Switzerland 2015.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17115
Collection机器人学研究室
Affiliation1.Institute of Information Science, Beijing Jiaotong University, Beijing, China
2.The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.The State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing, China
Recommended Citation
GB/T 7714
Yang TW,Han JD,Qin Y. Wave-based tracking control of a flexible arm using lumped model[C]. Berlin:Springer Verlag,2014:77-88.
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