Title:
Modeling and Optimal Control of a Lightweight Bracing Manipulator
Modeling and Optimal Control of a Lightweight Bracing Manipulator
Author(s)
Chung, Ya-Chien
Lu, Shui-Shong
Book, Wayne J.
Lu, Shui-Shong
Book, Wayne J.
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Abstract
Bracing strategy can improve the stiffness of a lightweight
manipulator. A lightweight bracing manipulator provides better
maneuverability in gross motions and higher precision in small
motions. In order to maintain these advantages, the structure and
dynamics of these types of manipulators become more complicated.
In this paper, the dynamic model, which includes gravitational effects
and an optimal regulator with prescribed relative stability, is
developed. The influence of the modeling uncertainties on the
controlled system is considered.
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Date Issued
1987
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Text
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Article