Two-Degree-of-Freedom Control of Flexible Manipulator Using Adaptive Notch Filter and Strain Feedback

被引：0
作者：
Sasaki, Minoru [1 ]
Miyabe, Ryutaro [1 ]
Njeri, Waweru [1 ]
Matsushita, Kojiro [1 ]
机构：
[1] Gifu Univ, Dept Mech Engn, 1-1 Yanagido, Gifu 5011193, Japan
来源：
2019 4TH ASIA-PACIFIC CONFERENCE ON INTELLIGENT ROBOT SYSTEMS (ACIRS 2019) | 2019年
关键词：
flexible manipulator; two-degree-of-freedom control; adaptive notch filter; direct strain feedback;
D O I：
10.1109/acirs.2019.8935945
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper investigates vibration control in 3-dimensional motion of a Flexible manipulator using 2-degree-of-freedom controller. The controller employs an adaptive notch filter in the feedforward and strain feedback controller in the feedback path. Experimental results show that the proposed vibration controller is effective for three-dimensional vibration control of the flexible manipulator.
引用
收藏
页码：32 / 38
页数：7
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