Abstract
For a high bandwidth, accurate end of arm motion control with good disturbance rejection, the Momentum Management Approach to Motion control (MMAM) is proposed. The MMAM is a kind of position control technique that uses inertial forces, applied at or near the end of arm to achieve high bandwidth and accuracy in movement and in the face of force disturbances. To prove the concept of MMAM, the end point control of a flexible manipulator is considered. For this purpose, a flexible beam is mounted on the x-y table, and the MMAM actuator is attached on the top of the flexible beam. A mathematical model is developed for the flexible beam being controlled by the MMAM actuator and slide base DC motor. A system identification method is applied to estimate some system parameters in the model which can not be determined because of the complexity of the mechanism. In order to optimize the result of the position (/velocity) estimation of a beam end point of which movement is monitored by an accelerometer and machine vision, a Kalman filter technique is applied. For the end point control of the flexible beam, the optimal linear output feedback control is applied.
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Nam, Y. The end point control for a MMAM controlled flexible manipulator. KSME Journal 7, 330–348 (1993). https://doi.org/10.1007/BF02953204
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DOI: https://doi.org/10.1007/BF02953204