Small Motion Experiments on a Large Flexible Arm with Strain Feedback
Yuan, B. S.
Huggins, J. D.
Book, Wayne John
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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 a quadratic performance index with a prescribed stability margin. It is based on a simplified model that accounts for the constraints of the parallel linkage kinematically rather than through constraint forces. The results show substantial improvement over a simple P.O. joint control.