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An integral manifold approach to control of a one link flexible arm
(Georgia Institute of Technology, 1986-12)
The problem of controlling a one link flexible arm is considered in this paper. An assumed mode method is adopted to derive the dynamic equations of motion; the system is then transformed to singularly perturbed form. An ...
Reconstruction and Robust Reduced-Order Observation of Flexible Variables
(Georgia Institute of Technology, 1986-12)
Most models intended for real-time control of distributed parameter systems such as flexible manipulators rely on N-modal approximation schemes[l]. Measurements made on flexible systems yield time varying quantities which ...
Small Motion Experiments on a Large Flexible Arm with Strain Feedback
(Georgia Institute of Technology, 1989-06)
Initial experiments on state space feedback control of
a large flexible manipulator with a parallel linkage drive
are described. A linear controller using joint angle and
strain measurements was designed to minimize ...
Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations
(Georgia Institute of Technology, 1988-06)
The performance limitations of joint variable feedback controlled manipulators due to manipulator flexibility are studied in fine and gross motions. A finite dimensional time-domain manipulator model is used in the study. ...