Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/39096

Title: Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations
Author: Cetinkunt, Sabri ; Book, Wayne John
Abstract: 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. Fine motion analysis results agree very well with the previously reported results based on infinite dimensional frequency domain models. The limitations of a class of adaptive controllers in high speed gross motion control are studied. Manipulation speeds are quantified as low, medium, or high with reference to the arm flexibility and dynamic nonlinearities.
Description: From Proceedings of the 1988 American Control Conference, June 15-17, 1988, Atlanta, Georgia, pp. 543-548.
Type: Proceedings
URI: http://hdl.handle.net/1853/39096
Citation: Cetinkunt, Sabri, and Wayne Book, "Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations," Proceedings, 1988 American Control Conference, June 15-17, Atlanta, Georgia, pp. 543-548.
Date: 1988-06
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
University of lliinois at Chicago. Dept. of Mechanical Engineering
Publisher: Georgia Institute of Technology
American Control Conference
Subject: Adaptive control
Manipulator dynamics
Feedback control

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