Abstract
A state feedback controller with acceleration feedforward has been developed for accurate tracking control of a flexible one-link robot. The model, on which the controller is based, is the result of a least squares parameter estimation algorithm that has been developed especially for the test setup. The algorithm divides the total model into two submodels in series, and estimates their parameters separately. The controller does not use a direct end point position measurement, but estimates this position from the measured motor angle and strain gauge signals. Acceleration feedforward is introduced in the state feedback controller to reduce tracking errors to negligible values. Integral control eliminates positioning errors caused by nonlinear motor friction.
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References
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© 1990 Springer-Verlag
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Swevers, J., Adams, M., De Schutter, J., Van Brussel, H., Thielemans, H. (1990). Limitations of linear identification and control techniques for flexible robots with nonlinear joint friction. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042511
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DOI: https://doi.org/10.1007/BFb0042511
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