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题名: Wave-based tracking control of a flexible arm using lumped model
作者: 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: Advances in Intelligent Systems and Computing
会议录出版者: Springer Verlag
会议录出版地: Berlin
出版日期: 2014
页码: 77-88
收录类别: EI ; CPCI(ISTP)
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
产权排序: 2
WOS记录号: WOS:000380533900008
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17115
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Yang TW,Han JD,Qin Y. Wave-based tracking control of a flexible arm using lumped model[C]. 见:3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014. Beijing, China. November 6-8, 2014.
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