Wave-based tracking control of a flexible arm using lumped model
文献类型：会议论文
| 作者 | Yang TW(杨唐文); Han JD(韩建达) ; Qin Y(秦勇)
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| 出版日期 | 2014 |
| 会议名称 | 3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014 |
| 会议日期 | November 6-8, 2014 |
| 会议地点 | Beijing, China |
| 关键词 | Flexible robotic arm lumped model tracking control wave absorption |
| 页码 | 77-88 |
| 中文摘要 | A wave control is presented to suppress vibration at the distal end of a flexible robotic arm while achieving accurate tracking control. It assumes the arm with an actuator at one end and a load at the other, and interprets the arm’s dynamics with a lumped model in terms of mechanical waves entering and leaving the arm at the actuator-arm interface. Control input to the actuator is then resolved into two superposed waves, which the actuator launches and absorbs simultaneously. From the motion start-up, the launch wave is assigned to the actuator, to which the absorbing wave is added. The absorbing wave is computed with the delayed tip motion. It absorbs the vibratory energy within the arm, and prevents the wave returning from the arm tip from entering the control system again. The control system’s properties are investigated, and it works pretty well for trajectory tracking control, as demonstrated in the numerical results. © Springer International Publishing Switzerland 2015. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议录 | Advances in Intelligent Systems and Computing
 |
| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 2194-5357 |
| ISBN号 | 978-3-319-16840-1 |
| WOS记录号 | WOS:000380533900008 |
| 源URL | [http://ir.sia.cn/handle/173321/17115]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Yang TW,Han JD,Qin Y. Wave-based tracking control of a flexible arm using lumped model[C]. 见:3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014. Beijing, China. November 6-8, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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