Title :
Experimental results on the control of a flexible link manipulator
Author :
Geniele, H. ; Pate, R. ; Khorasani, K.
Author_Institution :
Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, Que., Canada
Abstract :
The problem of controlling the tip position of an experimental flexible-link manipulator is considered. An output feedback control strategy is employed to overcome the non-minimum phase characteristics of the model. The controller consists of an inner stabilizing control loop and an outer servo loop that allows tracking of the desired trajectory. Experimental results are presented to illustrate the performance of the proposed controllers
Keywords :
closed loop systems; flexible structures; manipulator dynamics; position control; servomechanisms; stability; flexible link manipulator; inner stabilizing control loop; nonminimum phase characteristics; outer servo loop; output feedback control strategy; position control; tip position; trajectory tracking; Differential equations; Intelligent robots; Intelligent sensors; Manipulator dynamics; Nonlinear dynamical systems; Output feedback; Servomechanisms; Time domain analysis; Torque; Tracking loops;
Conference_Titel :
Circuits and Systems, 1993., Proceedings of the 36th Midwest Symposium on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-1760-2
DOI :
10.1109/MWSCAS.1993.343086
