Title :
Nonparametric identification and control of flexible joint robot manipulator
Author :
Sasiadek, Jerzy Z. ; Green, Anthony ; Ulrich, Steve ; Krzyzak, Adam
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Carleton Univ., Ottawa, ON, Canada
Abstract :
We discuss nonadaptive and adaptive control strategies for tracking the end effector of a flexible robot with collocated and noncollocated sensors attached at the end effector and 0.5m from the elbow joint. Collocated joint sensors satisfy hyperstability conditions but are unable to capture nonminimum phase (NMP) response which is achieved by noncollocated sensors. Nonadaptive control with collocated and noncollocated sensors results in poor tracking, but adaptive control leads to excellent tracking regardless of sensor location. Nonparametric identification procedure for the flexible robot is also presented and its convergence is discussed.
Keywords :
adaptive control; end effectors; flexible manipulators; sensors; stability; NMP response; adaptive control strategy; collocated joint sensors; convergence; elbow joint; end effector tracking; flexible joint robot manipulator control; flexible robot; hyperstability conditions; nonadaptive control strategy; noncollocated sensor; nonminimum phase response; nonparametric identification; sensor location; End effectors; Joints; Mathematical model; Robot kinematics; Robot sensing systems;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4799-5082-9
DOI :
10.1109/MMAR.2014.6957355
