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Proceedings Paper

Identification And Control Of Flexible-Limb Robots With Unknown Loads
Author(s): Clay Crapps; Gerald Cook
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Paper Abstract

This paper addresses the problem of controlling a flexible limb robot with an unknown load. The robot considered contains a single link. A lumped-parameter model is developed and a scheme is presented for rapid identification of these parameters (including load). Algorithms are then presented for updating the state estimator and the controller as the load changes. A complete adaptive closed-loop system is proposed.

Paper Details

Date Published: 19 October 1987
PDF: 11 pages
Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); doi: 10.1117/12.942954
Show Author Affiliations
Clay Crapps, George Mason University (United States)
Gerald Cook, George Mason University (United States)


Published in SPIE Proceedings Vol. 0853:
IECON '87: Industrial Applications of Control and Simulation
Tom T. Hartley, Editor(s)

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