Recognition of Electrical Control System of Flexible Manipulator BasedonTransfer Function Estimation Method
- Autores: Li Ren, Wenquan Huang, Yoonusraj Kodakkadan, Yahya Lakys
- Localización: Applied Mathematics and Nonlinear Sciences, ISSN-e 2444-8656, Vol. 8, Nº. 1, 2023, págs. 283-290
- Idioma: inglés
- Enlaces
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Resumen
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 armbased onthe 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.
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