Experiments in Control of a Flexible-Link Robotic Manipulator With Unknown Payload Dynamics: An Adaptive Approach

| This paper presents technology that extends the concept of end-point control of a exiblelink robot arm to handle payloads with unknown internal dynamics. The approach is based on merging high-performance control with an innovative identi cation algorithm in a self-tuning regulator framework. Payload dynamics are identi ed in real-time using recently developed subspace tting techniques. Su cient excitation issues are addressed. End-point feedback controllers are formulated using frequency weighted linear quadratic gaussian design methods. Experimental results demonstrating precision control of a very exible single-link robot arm with unknown dynamic payloads are presented.