Abstract
In the flexible manipulator control, tip-tracking control of flexible manipulator results in non-colocated control problem, which has a non-minimum phase dynamic characteristic. The level of tip-tracking performance in the non-colocated control system depends on the characteristics of the tip reference trajectory to be followed, as well as on the characteristics of the flexible manipulator system itself. In a previous research the use of a tip reference trajectory, filtered by a properly designed time-delay command shaping filter, has been proposed and a multirate repetitive learning control (MRLC) has been used as the tip-tracking controller. The practical implementation of this approach, however, requires estimation of the tip position, which is not easy to obtain. In this paper, a practical implementation of the approach is considered and the tip position is estimated with a fourth-order Kalman filter. The experimental results show that, with the use of Kalman filter, the proposed scheme results in a drastic reduction in residual tip vibrations and the required actuation effort.
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Joo Han Park received his B.S. and M.S. degrees in mechanical engineering from the Kyung Hee Univ., Korea, in 2005 and 2007, respectively. He is currently a Ph.D. candidate in Kyung Hee Univ., Korea. His research interests include robotics and vibration control.
Soon Geul Lee received his B.S. degree in Mechanical Engineering from Seoul National Univ. in 1983 and M.S. degree from KAIST in 1985. He received his Ph.D. degree in mechanical Engineering from U. of Michigan, Ann Arbor in 1992. He is currently a Professor at the Dept. of Mechanical Engineering in Kyung Hee Univ., Korea.
Sungsoo Rhim received his B.S. and M.S. degrees in Mechanical Engineering from Seoul National Univ., Korea, in 1990 and 1992, respectively. He received his Ph.D. degree in mechanical engineering from Georgia Institute of Technology in 2000. He is currently an Assistant Professor at the Dept. of Mechanical Engineering in Kyung Hee Univ., Korea.
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Park, JH., Lee, SG. & Rhim, S. Implementation of frequency-shaped tip reference in conjunction with learning controller for improved tip-tracking control. J Mech Sci Technol 23, 1008–1011 (2009). https://doi.org/10.1007/s12206-009-0330-7
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DOI: https://doi.org/10.1007/s12206-009-0330-7