Study on Adaptive Motion Control of Flexible Arm Using Visuol Information

本文讨论了一种单连杆机械臂的自适应控制方法。为了消除柔性臂的结构柔性引起的振动，利用CCD摄像机检测柔性臂的变形并作为在线信息，针对柔性臂传递函数的非最小相位特性，设计了基于带死区的自回归（AR）模型的自适应控制器，以避免不稳定的零极点相消。由于控制系统的自适应特性，计算机仿真证实，无论系统参数如何变化，如负载变化，都能实现无超调、无振动的快速定位。

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.