Combining a multirate repetitive learning controller with command shaping for improved flexible manipulator control

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 123, Issue 3, 2001, Pages 385-390

  Rhim, Sungsoo ^a   Hu, Ai Ping ^a   Sadegh, Nader ^b   Book, Wayne J ^b  

^a CAMotion Inc   (United States)

^b GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0010827881     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.1387445     Document Type: Article

References (13)

1. Singer, N. C., and Seering, W. P., 1990, Preshaping Command Inputs to Reduce System Vibration, ASME J. Dyn. Syst., Meas., Control, 112, No. 1, pp. 76-82.
2. Magee, D. P., and Book, W. J., 1994, Filtering Schilling Manipulator Commands to Prevent Flexible Structure Vibration, Proceedings of the American Control Conference, Baltimore, MA, June 29-July 1, pp. 2538-2542.
3. Rhim, S., and Book, W. J., 1997, Vibration Cancellation in Complex Support Structures for Precision Robots, Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Dallas, TX, November 16-21, DSC-Vol. 61, pp. 503-509.
4. Khorrami, F., Jain, S., and Tzes, A., 1994, Experiments on Rigid-body Based Controllers with Input Preshaping for a Two-link Flexible Manipulator, IEEE Trans. Rob. Autom., 10, No. 1, pp. 55-65.
5. Khorrami, F., Jain, S., and Tzes, A., 1995, Experimental Results on Adaptive Nonlinear Control and Input Preshaping for Multi-link Flexible Manipulators, Automatica, 31, No. 1, pp. 83-97.
6. Arimoto, S., 1986, Mathematical Theory of Learning with Applications to Robot Control, K. S. Narendra, Ed., Adaptive and Learning Systems, Plenum Press, New York, pp. 379-388.
7. Moore, K. L., 1993, Iterative Learning Control for Deterministic Systems, Springer-Verlag, London.
8. Magee, D. P., 1996, Optimal Arbitrary Time-delay Filtering to Minimize Vibration in Elastic Manipulator Systems, Ph.D. thesis, Georgia Institute of Technology, Atlanta, GA, Aug.
9. Rhim, S., and Book, W. J., 2000, Adaptation of Generalized Time-delay Command Shaper for Flexible Manipulator Control, Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, Apr. 22-28, pp. 1465-1471.
10. James, C. D., 1997, The Design of Robust Multi-rate Repetitive Learning Controllers with Applications to Practical Systems, Ph.D. thesis, Georgia Institute of Technology, Atlanta, GA, Nov.
11. James, C., and Sadegh, N., 1999, Synthesis and Stability of a Multirate Repetitive Learning Controller, Proceedings of the American Control Conference, San Diego, CA, June 2-4, pp. 358-362.
12. James, C., Sadegh, N., and Hu, A.-P., 1999, Synthesis, Stability Analysis, and Experimental Implementation of a Multirate Repetitive Learning Controller, Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, Sept. 19-23, pp. 653-658.
13. Sadegh, N., 1991, Synthesis and Stability Analysis of Repetitive Controllers, Proceedings of the American Control Conference, Boston, MA, June 26-28, pp. 2634-2639.