Abstract
This paper deals with a compensation method of deflecting flexble structures handled by a robot manipulator under gravity. A simplfied model of vibrating flexible structure is proposed in this paper, and the parameters necessary for the compensation control are identified by the extended Kalman filter. The compensation angle is estimated based on these identification data. The compensation control is carried out both by the simulations and experiments. In particular the vibration control is considered on the simulations of compensation control. Comparing these compensation results with each other, we show this compensation method is useful under the assumption that the deflection is small.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
