| Abstract: | This article addresses the feasibility of applying discrete-time model reference adaptive control techniques to the flexible link of robot mechanisms. The method of separation of variables is used to represent the deflection of the link. A nonlinear model is obtained using a Lagrangian equation, and the candidate frequencies and the associated mode functions are obtained using Bernoulli-Euler beam theory. By considering the effect of flexibility as an internal disturbance torque acting on the rigid body motion of the system, a discrete-time MRAC is determined for a single non-rigid link. The control algorithm is implemented for a collocated sensor and actuator system, and for a noncollocated end-point sensor and actuator system. Results of computer simulation show the feasibility of this approach and the advantage of using an end-point sensing system. |
