|P. Boscariol, A. Gasparetto, M. Giovagnoni, A. Lanzutti, R. Vidoni, V. Zanotto|
|Receding horizon control of a compliant manipulator: experimental analysis|
|Proceedings of the 13th IFToMM World Congress in Mechanism and Machine Science, Guanajuato (Mexico), June 19-25, 2011, pp.1-10|
Abstract: This paper presents an experimental study of
a Model Predictive Control scheme (MPC) for active vibration
damping in flexible-link robotic manipulators (FLM).
The prediction capability of the controller is based on a
very accurate FEM dynamic model of planar FLMs. Experiments
are performed on a laboratory prototype of a singlelink
mechanism affected by gravity force. Results show
that the proposed controller achieves a good position tracking
performance and an effective vibration suppression for
wide range movements. Good performance are confirmed
trough the comparison with a classical controller.