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Adaptive control of electric motors with a flexible load

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1 Author(s)
Zaremba, A.T. ; Michigan Univ., Ann Arbor, MI, USA

This paper presents a novel adaptive control scheme of a lightweight manipulator arm governed by electric motors. The controller design is based on the dynamic model of the manipulator in a quasi-static approximation and motor equations corrected for the elastic compliance of the plant. A passivity property of the flexible electromechanical system is established and an adaptive motor controller is developed which contains the rigid manipulator controller as a part. Simulation results for a single-link elastic arm confirm the validity and demonstrate advantages of the proposed method

Published in:

American Control Conference, Proceedings of the 1995  (Volume:6 )

Date of Conference:

21-23 Jun 1995