Title:
Control of flexible manipulators using vision and modal feedback

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dc.contributor.author Obergfell, Klaus en_US
dc.contributor.author Book, Wayne J. en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2011-06-20T18:21:16Z
dc.date.available 2011-06-20T18:21:16Z
dc.date.issued 1999-05
dc.description Presented at the International Conference on Recent Advances in Mechatronics (ICRAM'99), Istanbul, Turkey, May 22-27, 1999. en_US
dc.description.abstract 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. en_US
dc.identifier.citation Obergfell, Klaus and Wayne Book, "Control of Flexible Manipulators Using Vision and Modal Feedback," Recent advances in mechatronics, Kaynak, O., ed. 1999, pp 71-86. en_US
dc.identifier.isbn 9814021342
dc.identifier.isbn 789814021340
dc.identifier.uri http://hdl.handle.net/1853/39188
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Springer en_US
dc.subject End point measurement en_US
dc.subject Vision sensors en_US
dc.subject Optical deflection sensors en_US
dc.subject Tip position en_US
dc.title Control of flexible manipulators using vision and modal feedback en_US
dc.type Text
dc.type.genre Proceedings
dspace.entity.type Publication
local.contributor.author Book, Wayne J.
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
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