Intelligent Digital Control of a Single Link Flexible-Joint Robot with Uncertainties
نویسندگان
چکیده
منابع مشابه
Control of a Single Flexible-Intelligent Link Robot ?
A novel approach to the control of a single joint-single flexible link robot is proposed and experimentally evaluated. The control is completely signal based, and relies on joint trajectory pre-planning plus collocated vibration control of the flexible link through piezoelectric actuation. Trajectory pre-planning is a well known strategy for avoiding link vibrations during maneuvers, however it...
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This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop c...
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ژورنال
عنوان ژورنال: Journal of Korean Institute of Intelligent Systems
سال: 2005
ISSN: 1976-9172
DOI: 10.5391/jkiis.2005.15.3.318