DocumentCode
3493216
Title
The control method of a flexible robot manipulator using parameter estimation
Author
Jeongil, Park ; Chongkug, Park
Author_Institution
DaeLim Junior Coll., Kyunggi, South Korea
fYear
1995
fDate
26-28 Jul 1995
Firstpage
1157
Lastpage
1162
Abstract
This paper deals with the adaptive control of a one-link flexible robot manipulator. ARMA model is used as a prediction and estimation model. The parameter estimation part estimates ARMA model´s coefficients using the recursive least-squares algorithm and generates the predicted output. Forgetting factor is introduced to achieve an efficient estimation
Keywords
adaptive control; autoregressive moving average processes; least squares approximations; parameter estimation; robots; ARMA model; adaptive control; flexible robot manipulator; forgetting factor; one-link flexible robot; parameter estimation; prediction model; recursive least-squares algorithm; Adaptive control; Communication system control; Costs; Differential equations; Energy efficiency; Manipulators; Parameter estimation; Predictive models; Programmable control; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers
Conference_Location
Hokkaido
Print_ISBN
0-7803-2781-0
Type
conf
DOI
10.1109/SICE.1995.526648
Filename
526648
Link To Document