Title:
Small Motion Experiments on a Large Flexible Arm with Strain Feedback
Small Motion Experiments on a Large Flexible Arm with Strain Feedback
| dc.contributor.author | Yuan, B. S. | |
| dc.contributor.author | Huggins, J. D. | |
| dc.contributor.author | Book, Wayne J. | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Mechanical Engineering | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
| dc.date.accessioned | 2011-06-15T18:41:54Z | |
| dc.date.available | 2011-06-15T18:41:54Z | |
| dc.date.issued | 1989-06 | |
| dc.description | From Proceedings 1989 American Control Conference, Pittsburgh, PA, June 21-23, 1989. | en_US |
| dc.description.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. | en_US |
| dc.identifier.citation | Yuan, B.S. and W.J. Book, "Small Motion Experiments on a Large Flexible Arm with Strain Feedback," Proceedings of the 1989 American Control Conference, June 21-23, 1989, Pittsburgh, PA, pp. 2091-2095. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/39126 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | American Control Conference | |
| dc.subject | Feedback control | en_US |
| dc.subject | Flexible manipulators | en_US |
| dc.subject | Dynamic models | en_US |
| dc.title | Small Motion Experiments on a Large Flexible Arm with Strain 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) | |
| relation.isAuthorOfPublication | 45966a3c-59ea-44fc-980a-96d543c035f0 | |
| relation.isOrgUnitOfPublication | c01ff908-c25f-439b-bf10-a074ed886bb7 | |
| relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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