Control of flexible manipulators using vision and modal feedback
Book, Wayne John
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Literature for end point measurement and control is reviewed. An integrated vision sensor for tip position and an optical deflection sensor are incorporated into the control of a hydraulically actuated, flexible two-link manipulator arm. Analysis and experiments provide a design procedure and performance evaluation. The design procedure is based on successive loop closure and the use of output feedback modified to maintain stability. Point to point positioning performance is improved over alternative controllers.