Title :
Controlling the dynamics of mass capture by a single flexible link
Author :
Rhody, B.J. ; Heppler, G.R.
Author_Institution :
Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
Abstract :
A coupled computed torque feedforward and proportional derivative (PD) feedback control approach is applied to develop a tip trajectory tracking controller for post-impact control of a flexible link capturing a moving payload mass. In both simulation and experiment, the controlled system is shown to exhibit good tip position tracking response and is compared favorably to hub angle PD feedback alone
Keywords :
feedback; position control; robots; torque control; tracking; two-term control; computed torque feedforward control; dynamics of mass capture; hub torque; moving payload mass; post-impact control; proportional derivative feedback control; robotics; robustness; simulation; single flexible link; tip position tracking response; tip trajectory tracking controller; Acceleration; Control systems; Design engineering; Open loop systems; PD control; Payloads; Robots; Systems engineering and theory; Torque control; Weight control;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292221
