Non-model-based Control of Manipulators Cooperating Flexible Payload

作     者：Zhang Peng~(1,2),Xu Jing~2,Li Yuanchun~2 1.State key laboratory of automobile dynamics simulation,Jilin University,Changchun 130025 2.Department of Communication Engineering,Jilin University,Changchun 130025,China 

会议名称：《2010 Chinese Control and Decision Conference》

会议日期：2010年

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by National Nature Science Foundation under Grant(60674091 60974010) 

关 键 词：Robotic manipulator Observer Non-model-based Coordinated control Flexible Payload 

摘      要：正Different from the traditional studies of manipulators handling flexible load that concentrated on the structural analysis and stability,this paper studies the cooperative control and vibration control problem based on *** some information of the manipulator end-point contacting with the load and load physical properties,the relationship between the system flexible coordinates is got,and then a non-model-based observer is *** non-model-based fast and slow subsystem controllers are designed by the estimated states of the *** stability of the overall system composed of the observer system and the controller system can be *** results verify the effectiveness of the method proposed in this paper.