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

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dc.contributor.author Cetinkunt, Sabri
dc.contributor.author Book, Wayne John
dc.date.accessioned 2011-06-13T17:58:19Z
dc.date.available 2011-06-13T17:58:19Z
dc.date.issued 1988-06
dc.identifier.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. en_US
dc.identifier.uri http://hdl.handle.net/1853/39096
dc.description From Proceedings of the 1988 American Control Conference, June 15-17, 1988, Atlanta, Georgia, pp. 543-548. en_US
dc.description.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. en_US
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Adaptive control en_US
dc.subject Manipulator dynamics en_US
dc.subject Feedback control en_US
dc.title Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations en_US
dc.type Proceedings en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatename University of lliinois at Chicago. Dept. of Mechanical Engineering
dc.publisher.original American Control Conference


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