Title:
Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations
Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations
| dc.contributor.author | Cetinkunt, Sabri | |
| 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.contributor.corporatename | University of lliinois at Chicago. Dept. of Mechanical Engineering | |
| dc.date.accessioned | 2011-06-13T17:58:19Z | |
| dc.date.available | 2011-06-13T17:58:19Z | |
| dc.date.issued | 1988-06 | |
| dc.description | From Proceedings of the 1988 American Control Conference, June 15-17, 1988, Atlanta, Georgia, pp. 543-548. | en_US |
| dc.description.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. | en_US |
| dc.identifier.citation | Cetinkunt, Sabri, and Wayne Book, "Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations," Proceedings, 1988 American Control Conference, June 15-17, Atlanta, Georgia, pp. 543-548. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/39096 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | American Control Conference | |
| dc.subject | Adaptive control | en_US |
| dc.subject | Manipulator dynamics | en_US |
| dc.subject | Feedback control | en_US |
| dc.title | Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations | 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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