End-point Control of a Flexible Structure Mounted Manipulator Based on Wavelet Basis Function Networks

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Authors
  1. Cheng, D.X.P
Corporate Authors
Defence R&D Canada - Suffield, Ralston ALTA (CAN)
Abstract
In this paper, we present a wavelet basis function (WBF) network based control scheme for end-point tracking control of a system consisting of a rigid micro manipulator attached at the end of a flexible macro manipulator. The objective is to suppress vibrations in the macro manipulator and at the same time achieve desired motions of the end-effector of the micro manipulator. A WBF network is utilized to approximate the dynamic behavior of the macro-micro manipulator (M³) system in real time, and the controller is developed without any need for prior knowledge of the dynamics. A weight-tuning algorithm for the WBF network is derived using Lyapunov theory. It is shown that both the path tracking error and the damped vibrations are uniformly ultimately bounded under this new control scheme. A case of end-point tracking via kinematic redundancy is studied and the results are compared to those obtained using an MLP network controller and a PD joint controller.
Report Number
DRDC-SUFFIELD-SL-2005-131 — Scientific Literature
Date of publication
13 Sep 2005
Number of Pages
7
DSTKIM No
CA026238
CANDIS No
524057
Format(s):
Hardcopy;Document Image stored on Optical Disk

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