Title :
Acceleration feedback control for a flexible manipulator arm
Author :
Kotnik, Paul T. ; Yurkovich, Stephen ; Özgüner, Ümit
Author_Institution :
Battelle Memorial Inst., Columbus, OH, USA
Abstract :
The authors report laboratory results for a single-link flexible manipulator arm in which three separate control strategies are compared and contrasted: compensation using classical root locus techniques with endpoint position feedback, a full state feedback observer-based design, and compensation using endpoint acceleration feedback. The last technique, using accelerometer feedback, has received little attention to date. The presented results indicate great promise for its use in flexible manipulator control
Keywords :
acceleration control; compensation; feedback; large-scale systems; robots; root loci; state-space methods; compensation; endpoint acceleration feedback; full state feedback observer-based design; position feedback; robot; root locus; single-link flexible manipulator arm; Acceleration; Actuators; DC motors; Feedback control; Laboratories; Optical feedback; Output feedback; Robust stability; Shafts; State feedback;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12068
