Speed control method for dual-flexible manipulator with a telescopic arm considering bearing friction based on adaptive PI controller with DOB
A dual-flexible manipulator with a telescopic arm is affected by joint flexibility, load flexibility, and bearing friction, which will cause angular velocity fluctuation. Besides, the motion of the telescopic arm leads to dynamic parameters of the flexible load in the servo system time-varying. The...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2022-06-01
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| Series: | Alexandria Engineering Journal |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S1110016821006979 |