Title:
Small Motion Experiments on a Large Flexible Arm with Strain Feedback
Small Motion Experiments on a Large Flexible Arm with Strain Feedback
Author(s)
Yuan, B. S.
Huggins, J. D.
Book, Wayne J.
Huggins, J. D.
Book, Wayne J.
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Abstract
Initial experiments on state space feedback control of
a large flexible manipulator with a parallel linkage drive
are described. A linear controller using joint angle and
strain measurements was designed to minimize a
quadratic performance index with a prescribed stability
margin. It is based on a simplified model that accounts for
the constraints of the parallel linkage kinematically rather
than through constraint forces. The results show
substantial improvement over a simple P.O. joint control.
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Date Issued
1989-06
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Text
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Proceedings