Title:
Experiments in the Control of a Flexible Robot Arm

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Author(s)
Hastings, Gordon Greene
Book, Wayne J.
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Abstract
Control of flexible manipulator arms offers high performance, light weight, and low cost over conventional rigid members. Presented is an experimental system for evaluating control systems. A dynamic modeling procedure is outlined and an optimal control system is discussed. Reconstruction of flexible modes is accomplished using strain gage data. Velocity of flexible modes is estimated with a reduced order observer. Experimental data is presented to verify dynamic modeling and modal reconstruction. Initial results using a deterministic optimal controller are presented.
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1985-06
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