Two-step controller for 3-d flexible link manipulators: Bandwidth modulation and modal feedback approach
SCIE
SCOPUS
- Title
- Two-step controller for 3-d flexible link manipulators: Bandwidth modulation and modal feedback approach
- Authors
- Cheong, J; Chung, WK; Youm, Y
- Date Issued
- 2002-12
- Publisher
- ASME-AMER SOC MECHANICAL ENG
- Abstract
- For joint tracking control of flexible robots, this paper presents a two-step design of controller: the bandwidth modulation with modal,feedback approach, First, We focus on the design of rigid parts motion controller considering the bandwidth of the rigid sub-system. Vie investigate the relationship between macro joint tracking performance and vibration suppression capability using the bandwidth parameter Alter adjusting the band-width of rigid motion. the composite control, which is the second step Consisting of rigid and flexible sub-controllers. is applied like singular perturbation approach. As the flexible sub-controller, we propose a direct modal feedback controller that is very simple, but effective to suppress the vibration. The validity and effectiveness of the proposed method are are verified by experiments using a POSTECH 3-D flexible robot.
- Keywords
- ROBOT MANIPULATORS
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/18756
- DOI
- 10.1115/1.1514240
- ISSN
- 0022-0434
- Article Type
- Article
- Citation
- JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, vol. 124, no. 4, page. 566 - 574, 2002-12
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