Application and Comparison of On-Line Identification Methods for Flexible Manipulator Control

Abstract

The application of on-line identification schemes to flexi ble manipulators is considered. The common objective of all methods, for control purposes, is a time domain para meterization of the system transfer function. Time domain methods generally require more computational load, are more sensitive to noise than frequency domain methods, and suffer from over- (under-) parameterization of the transfer function. Frequency domain methods parameter ize the lightly damped transfer function in terms of its easily recognizable poles and zeros and offer alternatives to time domain methods. Several solutions to overcome the aforementioned problems are discussed and demon strated through experimental studies on a one-link flexible manipulator.