Tip position control of a flexible one arm robot with predictive adaptive output feedback implemented with lattice filter parameter identifier

摘要

A lattice-filter structure is used for real-time parameter estimation of a flexible one-arm robot. The estimated parameters are employed in the control calculations based on predictive adaptive output feedback control. The lattice filters are particularly suitable for identifying the parameters of mechanical systems with distributed flexibility, since the order of the filter may be adjusted online as the task conditions require. Hence, the required dynamic model order for an accurate control does not have to be decided upon beforehand. A predictive adaptive control is studied using tip-position measurements. Although there are potential instability problems due to the nonminimum-phase nature of the open-loop system as a result of sensor-actuator noncolocation, the discrete-time predictive adaptive control implemented with the lattice filter (forming a special self-tuning regulator) demonstrated precision, high-bandwidth tip-position control of a flexible one-arm robot.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>