Parallelogram barker spacenet full#

Therefore a neural self-tuning control (NSTC) algorithm is developed and applied to this problem and showed promising results. Most of the existing neural network control algorithms are based on the direct method and exhibit very high sensitivity if not unstable closed-loop behavior. Satisfactory control performance was not attainable due to the inherent non-minimum phase characteristics of the flexible robotic arm tip. The motivation of this research came about when a neural network direct adaptive control scheme was applied to control the tip position of a flexible robotic arm.

Parallelogram barker spacenet full#

They investigate the effect of full coupling between the rigid and flexible motions, and of axial shortening, and consider the control of flexible arms using only additional sensors.Īdaptive control strategies for flexible robotic arm Researchers include the effects of prismatic as well as revolute joints. Experimental results are also limited for flexible arm control.

Little or no experimental validation of dynamic models for flexible arms is available. Previous work has mostly been based on linear elasticity with prescribed rigid body motions (i.e., no effect of flexible motion on rigid body motion). Accurate dynamic modeling of flexible robot arms is needed. An adaptive pole assignment algorithm has been applied to suppress vibrations of the described physical model of flexible robotic arm and has been successfully tested using this testbed.Įxperimental validation of flexible robot arm modeling and controlįlexibility is important for high speed, high precision operation of lightweight manipulators. In addition, the hardware implementation of a computer control system that controls the tip position of a flexible arm clamped on a rigid hub mounted directly on the vertical shaft of a dc motor, has been developed. All of the above algorithms have been tested through computer simulation. The following control strategies have been developed and evaluated: neural self-tuning control algorithm, neural-network-based fuzzy logic control algorithm, and adaptive pole assignment algorithm. The control strategies that have been developed have a wide application in approaching the general control problem of flexible space structures.

The control problem of a flexible robotic arm has been investigated.

Adaptive Control Strategies for Flexible Robotic Arm