scholarly journals Control of a Flexible Manipulator With Noncollocated Feedback: Time-Domain Passivity Approach

2004 ◽  
Vol 20 (4) ◽  
pp. 776-780 ◽  
Author(s):  
J.-H. Ryu ◽  
D.-S. Kwon ◽  
B. Hannaford
Keyword(s):  
Time Domain ◽  
Flexible Manipulator ◽  
Feedback Time

A Frequency Domain Identification Scheme for Flexible Structure Control

1990 ◽  
Vol 112 (3) ◽  
pp. 427-434 ◽  
Author(s):  
A. P. Tzes ◽  
S. Yurkovich
Keyword(s):  
Transfer Function ◽  
Frequency Domain ◽  
Time Domain ◽  
Flexible Manipulator ◽  
Flexible Structure ◽  
Structure Control ◽  
Identification Schemes ◽  
Domain Identification ◽  
Frequency Domain Methods ◽  
Self Tuning

Transfer function identification schemes for use in self-tuning control applications are considered. Frequency domain methods generally require less computational load than time domain methods, and for certain classes of systems may be more accurate. For control purposes, however, a time domain parameterization of the system transfer function is often preferred, because of the direct relationship to controller parameters. In this paper we present a new method called Time-varying Transfer Function Estimation (TTFE) in which system parameters are computed through identification in the frequency domain. The method is particularly well suited for flexible structure control problems, and a self-tuning control law with frequency shaping is derived and demonstrated on a flexible manipulator system.

Soft-Feedback Time-Domain Turbo Equalization for Single-Carrier Generalized Spatial Modulation

2018 ◽  
Vol 67 (10) ◽  
pp. 9421-9434 ◽  
Author(s):  
Yan Zhao ◽  
Ping Yang ◽  
Yue Xiao ◽  
Binhong Dong ◽  
Wei Xiang
Keyword(s):  
Time Domain ◽  
Turbo Equalization ◽  
Spatial Modulation ◽  
Single Carrier ◽  
Feedback Time

A Time-Domain Inverse Dynamic Tracking Control of a Single-Link Flexible Manipulator

1994 ◽  
Vol 116 (2) ◽  
pp. 193-200 ◽  
Author(s):  
Dong-Soo Kwon ◽  
Wayne J. Book
Keyword(s):  
Time Domain ◽  
Dynamic Method ◽  
Position Control ◽  
Industrial Robots ◽  
Flexible Manipulator ◽  
System Control ◽  
State Variables ◽  
Inverse Dynamic ◽  
Single Link ◽  
Link Flexibility

A manipulator system with a large workspace volume and high payload capacity has greater link flexibility than do typical industrial robots and teleoperators. If link flexibility is significant, position control of the manipulator’s end-effector exhibits nonminimum-phase, noncollocated, and flexible-structure system control problems. This paper addresses inverse dynamic trajectory planning issues of a single-link flexible manipulator. The inverse dynamic equation of a single-link flexible manipulator was solved in the time-domain. By dividing the inverse system equation into its causal part and anticausal part, the inverse dynamic method calculates the feed-forward torque and the trajectories of all state variables that do not excite structural vibrations for a given end-point trajectory. Through simulation and experiment with a single-link manipulator, the effectiveness of the inverse dynamic method in producing fast and vibration-free motion has been demonstrated.

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