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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)
作者部门机器人学研究室
会议名称3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014
会议日期November 6-8, 2014
会议地点Beijing, China
会议录名称Advances in Intelligent Systems and Computing
出版者Springer Verlag
出版地Berlin
2014
页码77-88
收录类别EI ; CPCI(ISTP)
EI收录号20154001333139
WOS记录号WOS:000380533900008
产权排序2
ISSN号2194-5357
ISBN号978-3-319-16840-1
关键词Flexible Robotic Arm Lumped Model Tracking Control Wave Absorption
摘要A 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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17115
专题机器人学研究室
作者单位1.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
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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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