(Georgia Institute of Technology, 1989-12)
Yuan, Bau-San; Book, Wayne J.; Huggins, J. D.
A robust adaptive control is derived by signal-synthesis
methods for a light, flexible two degree-of-freedom manipulator. The
controller for each joint is decentralized, using measurements of one
joint's position as well as one link's strain. The coupling to other
dynamics is treated as a bounded uncertainty in the model. A stability
proof has been developed and is outlined. Performance of the advanced
controller is compared to a Linear Quadratic Regulator (LOR) and to an independent joint control. Both simulations and experiments are
presented. The cases of payload variations are considered at this point.
(Georgia Institute of Technology, 1989)
Yuan, Bau-San; Book, Wayne J.; Siciliano, Bruno
A robust tracking controller for a one-link flexible arm based on a model reference
adaptive control approach is proposed. In order to satisfy the model matching conditions,
the reference model is chosen to be the optimally controlled linearized model of the
system. The resulting controller overcomes the fundamental limitation in previously
published research on direct adaptive control of flexible robots that required additional
actuators solely to control the flexible degrees of freedom. The nominal trajectory is
commanded by means of a tracking control. Simulation results for the prototype in the
laboratory show improvements obtained with the outer adaptive feedback loop compared
to a pure optimal regulator control. Robustness is tested by varying the payload mass.
(Georgia Institute of Technology, 1989)
Cetinkunt, Sabri; Book, Wayne J.
The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and
joints are developed based on a Lagrangian-assumed mode of formulation. This form of dynamic model is
suitable for controller synthesis, as well as accurate simulations of robotic applications. The final form of the equations
is organized in a form similar to rigid manipulator equations. This allows one to identify the differences between
rigid and flexible manipulator dynamics explicitly. Therefore, current knowledge on control of rigid manipulators
is likely to be utilized in a maximum way in developing new control algorithms for flexible manipulators.
Computer automated symbolic expansion of the dynamic model equations for any desired manipulator is
accomplished with programs written based on commercial symbolic manipulation programs (SMP, MACSYMA,
REDUCE). A two-link manipulator is used as an example. Computational complexity involved in real-time control,
using the explicit, non-recursive form of equations, is studied on single CPU and multi-CPU parallel computation
processors.