Identification And Control Of Flexible-Limb Robots With Unknown Loads

Clay Crapps; Gerald Cook

doi:10.1117/12.942954

19 October 1987 Identification And Control Of Flexible-Limb Robots With Unknown Loads

Clay Crapps, Gerald Cook

Proceedings Volume 0853, IECON '87: Industrial Applications of Control and Simulation; (1987) https://doi.org/10.1117/12.942954
Event: IECON, Cambridge, 1987, Cambridge, MA, United States

Abstract

This paper addresses the problem of controlling a flexible limb robot with an unknown load. The robot considered contains a single link. A lumped-parameter model is developed and a scheme is presented for rapid identification of these parameters (including load). Algorithms are then presented for updating the state estimator and the controller as the load changes. A complete adaptive closed-loop system is proposed.

Citation Download Citation

Clay Crapps and Gerald Cook "Identification And Control Of Flexible-Limb Robots With Unknown Loads", Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); https://doi.org/10.1117/12.942954

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