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Title |
Online Identification and Control of the Flexible Robot Arm by Recursive Prediction Error Method |
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Author |
Abbas Biglari Rad and Mohammad Reza Alizadeh Pahlavani |
| Citation |
Vol. 26 No. 9 pp. 25-34 |
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Abstract |
Tending of the industry to lighter robots with higher mechanical abilities is growing day to day.The good performance of a robot needs to flexibility in robotic models which means the ability of robot in doing tasks in the wide range. This paper models and identifies an ABB industrial robot besides conducting the optimal control of it. In order to modeling, the robot arm is described by the finite number of masses that they are connected with each other by spring and dampers. The two-mass model of robot arm gives an acceptable description of the robot; at the time of rotation around an axis. The recursive prediction error method (RPEM) is improved for identifying the continuous time models. Also, LQG controller is retrofitted on the flexible robot arm for rejecting the disturbance. The obtained results from the simulation indicate the acceptable descriptionand good performance of this controller. |
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Keywords |
Modeling, Online Identification, Recursive Prediction Error Method, andOptimal Control of LQR |
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