Recognition of Electrical Control System of Flexible Manipulator Based on Transfer Function Estimation Method
This article proposes a resonance suppression method for a flexible load servo drive system based on a flexible manipulator's pose transformation. We establish a flexible load servo drive system for the robotic arm based on the continuum vibration theory and the transfer function estimation met...
Main Authors: | , , , |
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Format: | Article |
Language: | English |
Published: |
Sciendo
2023-01-01
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Series: | Applied Mathematics and Nonlinear Sciences |
Subjects: | |
Online Access: | https://doi.org/10.2478/amns.2022.2.00010 |
Summary: | This article proposes a resonance suppression method for a flexible load servo drive system based on a flexible manipulator's pose transformation. We establish a flexible load servo drive system for the robotic arm based on the continuum vibration theory and the transfer function estimation method. The controller consists of two parts: compensation control and dynamic feedback. The transfer function of the active feedback part is strictly positive and real. At the end of the thesis, the asymptotic stability of the closed-loop system in the neighborhood of the desired position is proved through the linear operator semigroup theory and the LaSalle invariant set principle. |
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ISSN: | 2444-8656 |