Flexibility Effects on the Control System Performance of Large Scale Robotic Manipulators
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Cetinkunt, Sabri
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Abstract
Structural flexibility of robotic manipulators becomes significant and limits the performance
of a control system when manipulators are large structures, manipulating on large
payloads, and/or operating at high speeds. The question of when a manipulator can be
considered rigid or must be considered flexible is studied as a function of manipulator dynamics
and task characteristics. Results are interpreted in simple quantitative forms
which can be used as design and analysis tools to decide whether or not the manipulator
flexibility will be a significant factor for a given task condition. The limitations imposed
by the manipulator flexibility on the joint variable feedback control system performance
is determined using linear and nonlinear methods. The closed loop eigenstructure behavior
of finite dimensional models under joint variable feedback is studied and results are
compared with the previously reported results.
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Date
1990
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Text
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Article