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dc.contributor.authorCetinkunt, Sabri
dc.contributor.authorBook, Wayne John
dc.date.accessioned2011-06-13T17:58:19Z
dc.date.available2011-06-13T17:58:19Z
dc.date.issued1988-06
dc.identifier.citationCetinkunt, 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.en_US
dc.identifier.urihttp://hdl.handle.net/1853/39096
dc.descriptionFrom Proceedings of the 1988 American Control Conference, June 15-17, 1988, Atlanta, Georgia, pp. 543-548.en_US
dc.description.abstractThe 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.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectAdaptive controlen_US
dc.subjectManipulator dynamicsen_US
dc.subjectFeedback controlen_US
dc.titlePerformance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitationsen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Mechanical Engineering
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatenameUniversity of lliinois at Chicago. Dept. of Mechanical Engineering
dc.publisher.originalAmerican Control Conference


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