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...

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Bibliographic Details
Main Authors: Ren Li, Huang Wenquan, Kodakkadan Yoonusraj, Lakys Yahya
Format: Article
Language:English
Published: Sciendo 2023-01-01
Series:Applied Mathematics and Nonlinear Sciences
Subjects:
Online Access:https://doi.org/10.2478/amns.2022.2.00010
Description
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.
ISSN:2444-8656