Study on Adaptive Motion Control of Flexible Arm Using Visuol Information

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This report discusses an adaptive control method for a single-link robotic manipulator whose arm is composed of elastic members. In order to eliminate undesirable vibration caused by its structural flexibility, the deformation of the arm is detected by CCD camera and used as an information for on-line purpose.Since the transfer function of the flexible arm is nonminimum phase, the adaptive controller is designed based on autorrgressive (AR) model with dead time to avoid unstable pole-zero cancellation. Owing to the adaptive prorerty of the control system, it is confirmed by computer simulation that fast positioning without any overshoot or vibration can be always achieved in spite of parameter change such as payload variation.