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Model-based Reference Trajectory Generation for Tip-based Learning Controller
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  • Model-based Reference Trajectory Generation for Tip-based Learning Controller
  • Model-based Reference Trajectory Generation for Tip-based Learning Controller
저자명
Rhim. Sungsoo,Lee. Soon-Geul,Lim. Tae Gyoon
간행물명
Journal of mechanical science and technology
권/호정보
2005년|19권 1호|pp.357-363 (7 pages)
발행정보
대한기계학회
파일정보
정기간행물|ENG|
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기타
이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
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기타언어초록

The non-minimum phase characteristic of a flexible manipulator makes tracking control of its tip difficult. The level of the tip tracking performance of a flexible manipulator is significantly affected by the characteristics of the tip reference trajectory as well as the characteristics of the flexible manipulator system. This paper addresses the question of how to best specify a reference trajectory for the tip of a flexible manipulator to follow in order to achieve the objectives of reducing : tip tracking error, residual tip vibration, and the required actuation effort at the manipulator joint. A novel method of tip-based learning controller for the flexible manipulator system is proposed in the paper, where a model of the flexible manipulator system with a command shaping filter is used to generate a smooth and realizable tip reference trajectory for a tip-based learning controller.