Title :
Dynamic trajectory tracking control of flexible manipulator macro-micro manipulator system
Author :
Yoshikawa, Tsuneo ; Hosoda, Koh ; Doi, Toshitsugu ; Murakami, Hiroki
Author_Institution :
Dept. of Mech. Eng., Kyoto Univ., Japan
Abstract :
A macro-micro manipulator system has been proposed with the purpose of overcoming the difficulty to realize a trajectory tracking control of a flexible manipulator. In this paper, a trajectory tracking controller of macro-micro manipulator system is proposed which takes the dynamics of the system into consideration. This control law consists of a simple PD feedback law for the macro flexible manipulator and a dynamic trajectory tracking control law for the micro rigid manipulator. Experimental results show the effectiveness of the proposed scheme
Keywords :
distributed parameter systems; feedback; large-scale systems; position control; robots; two-term control; dynamic trajectory tracking control; flexible manipulator macro-micro manipulator system; simple PD feedback law; Arm; Control systems; Electrical equipment industry; Equations; Feedback; Kinematics; Manipulator dynamics; Orbital robotics; Toy industry; Trajectory;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351198
