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Learning control of flexible manipulator with unknown dynamics

Learning control of flexible manipulator with unknown dynamics PurposeThe purpose of this paper is to study the controller design of flexible manipulator. Flexible manipulator system is a nonlinear, strong coupling, time-varying system, which is introduced elastodynamics in the study and complicated to control. However, due to the flexible manipulator, system has a significant advantage in response speed, control accuracy and load weight ratio to attract a lot of researchers.Design/methodology/approachSince the order of flexible manipulator system is high, designing controller process will be complex, and have a large amount of calculation, but this paper will use the dynamic surface control method to solve this problem.FindingsDynamic surface control method as a controller design method which can effectively solve the problem with the system contains nonlinear and reduced design complexity.Originality/valueThe authors assume that the dynamic parameters of flexible manipulator system are unknown, and use Radial Basis Function neural network to approach the unknown system, combined with the dynamic surface control method to design the controller. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Assembly Automation Emerald Publishing

Learning control of flexible manipulator with unknown dynamics

Assembly Automation , Volume 37 (3): 10 – Aug 7, 2017

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Publisher
Emerald Publishing
Copyright
Copyright © Emerald Group Publishing Limited
ISSN
0144-5154
DOI
10.1108/AA-11-2016-148
Publisher site
See Article on Publisher Site

Abstract

PurposeThe purpose of this paper is to study the controller design of flexible manipulator. Flexible manipulator system is a nonlinear, strong coupling, time-varying system, which is introduced elastodynamics in the study and complicated to control. However, due to the flexible manipulator, system has a significant advantage in response speed, control accuracy and load weight ratio to attract a lot of researchers.Design/methodology/approachSince the order of flexible manipulator system is high, designing controller process will be complex, and have a large amount of calculation, but this paper will use the dynamic surface control method to solve this problem.FindingsDynamic surface control method as a controller design method which can effectively solve the problem with the system contains nonlinear and reduced design complexity.Originality/valueThe authors assume that the dynamic parameters of flexible manipulator system are unknown, and use Radial Basis Function neural network to approach the unknown system, combined with the dynamic surface control method to design the controller.

Journal

Assembly AutomationEmerald Publishing

Published: Aug 7, 2017

References