<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>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.</p>
</abstract>

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.

Recognition of Electrical Control System of Flexible Manipulator Based on Transfer Function Estimation Method

Anhui Wenda University of Information Engineering

Applied Mathematics and Nonlinear Sciences

This work is licensed under the Creative Commons Attribution 4.0 International License.

This article proposes a resonance suppression method for a flexible load servo drive system based on a flexible manipulator's pose transformation. We establish...

Recognition of Electrical Control System of Flexible Manipulator Based on Transfer Function Estimation Method

Online veröffentlicht: 06. Juni 2023

Seitenbereich: 283 - 290

Eingereicht: 12. Jan. 2022

Akzeptiert: 29. März 2022

DOI: https://doi.org/10.2478/amns.2022.2.00010

Schlüsselwörter
Flexible manipulator, Performance configuration, Transfer function, Structure/control fusion modeling

© 2023 Li Ren et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Figure 1

Figure 2

Recognition of Electrical Control System of Flexible Manipulator Based on Transfer Function Estimation Method

Online veröffentlicht: 06. Juni 2023

Seitenbereich: 283 - 290

Eingereicht: 12. Jan. 2022

Akzeptiert: 29. März 2022

DOI: https://doi.org/10.2478/amns.2022.2.00010

SchlüsselwörterFlexible manipulator, Performance configuration, Transfer function, Structure/control fusion modeling

© 2023 Li Ren et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Figure 1

Figure 2

Schlüsselwörter
Flexible manipulator, Performance configuration, Transfer function, Structure/control fusion modeling