Experiments in the Control of a Flexible Robot Arm

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/39332

Title: Experiments in the Control of a Flexible Robot Arm
Author: Hastings, Gordon Greene ; Book, Wayne John
Abstract: Control of flexible manipulator arms offers high performance, light weight, and low cost over conventional rigid members. Presented is an experimental system for evaluating control systems. A dynamic modeling procedure is outlined and an optimal control system is discussed. Reconstruction of flexible modes is accomplished using strain gage data. Velocity of flexible modes is estimated with a reduced order observer. Experimental data is presented to verify dynamic modeling and modal reconstruction. Initial results using a deterministic optimal controller are presented.
Description: ©1985 Society of Mechanical Engineers Presented at the 9th Robots Conference, June 2 - 6, 1985, Detroit, Michigan.
Type: Proceedings
URI: http://hdl.handle.net/1853/39332
ISBN: 0872631893
9780872631892
Citation: Hastings, Gordon, and Wayne Book, "Experiments in the Control of a Flexible Robot Arm," Robots 9 Exposition & Conference, Detroit, MI, June 2, 1985, pp. 20/45-20/57.
Date: 1985-06
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Robotics International of SME
Subject: Industrial robots
Flexible manipulators
Deterministic optimal control

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