NDLI: End-point sensing and load-adaptive control of a flexible robot arm

Content Provider	IEEE Xplore Digital Library
Author	Nelson, W.L. Mitra, D. Boie, R.A.
Copyright Year	1985
Description	Author affiliation: AT&T Bell Labortories, Murray Hill, New Jersey (Nelson, W.L.; Mitra, D.; Boie, R.A.)
Abstract	The use of lightweight flexible links in robot manipulators is desirable from the point of view of achieving robot arms which are faster and less expensive than the typical robot arms in use today. The disadvantages of light, flexible arms are (1) that they require a means for accurate end-point sensing and feedback to compensate for static load errors, and (2) that the feedback control system must also suppress the vibrational transients in the flexible arm during rapid arm movements. Since the arm load affects the transient and steady-state behavior of the flexible arm, the control strategy must be adaptive to load changes. This paper describes a method using an on-line estimator to provide periodic updates of load mass estimates to a parametric optimal controller which then adjusts the control gains to maintain the desired arm response. The method appears to offer a promising means for achieving rapid, smooth, and accurate motion of flexible robot arms under varying load conditions.
Starting Page	1410
Ending Page	1415
File Size	603684
Page Count	6
File Format	PDF
DOI	10.1109/CDC.1985.268743
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1985-12-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Manipulators Optimal control Weight control Arm Error correction Feedback control Vibration control Steady-state Programmable control
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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