Abstract
Control of a two link planar manipulator with one flexible link executing constrained and unconstrained maneuvers is considered. The dynamic model includes the impact force generated during the transition from an unconstrained to a constrained segment of the robotic task. The linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design methodology is exploited to design a robust feedback control system that can handle modeling errors and sensor noise, and operate on Cartesian space trajectory errors. The LQG/LTR compensator together with a feedforward loop is used to control the flexible manipulator. Simulation results are presented.
| Original language | American English |
|---|---|
| Pages (from-to) | 1913-1914 |
| Number of pages | 2 |
| Journal | Proceedings of the American Control Conference (1991, Boston, MA) |
| Volume | 2 |
| DOIs | |
| State | Published - Jun 28 1991 |
| Event | Proceedings of the 1991 American Control Conference - Boston, MA, USA Duration: Jun 26 1991 → Jun 28 1991 |
ASJC Scopus Subject Areas
- Electrical and Electronic Engineering
Keywords
- Computer Simulation
- Control Systems
- Elasticity
- Linear Quadratic Gaussian
- Mechanical Variables Measurement--Position
- Robots--Manipulators
Disciplines
- Mechanical Engineering
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