Controlled Motion in an Elastic World
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Abstract
The flexibility of the drives and structures of controlled motion systems are presented
as an obstacle to be overcome in the design of high performance motion systems,
particularly manipulator arms. The task and the measure of performance to be
applied determine the technology appropriate to overcome this obstacle. Included
in the technologies proposed are control algorithms (feedback and feedforward) ,
passive damping enhancement, operational strategies, and structural design. Modeling
of the distributed, nonlinear system is difficult, and alternative approaches are
discussed. The author presents personal perspectives on the history, status and future
directions in this area.
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1993-03
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