Title:
Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations

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Cetinkunt, Sabri
Book, Wayne J.
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Abstract
The performance limitations of joint variable feedback controlled manipulators due to manipulator flexibility are studied in fine and gross motions. A finite dimensional time-domain manipulator model is used in the study. Fine motion analysis results agree very well with the previously reported results based on infinite dimensional frequency domain models. The limitations of a class of adaptive controllers in high speed gross motion control are studied. Manipulation speeds are quantified as low, medium, or high with reference to the arm flexibility and dynamic nonlinearities.
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1988-06
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Proceedings
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