Title :
On the modelling and control of a flexible manipulator arm by point actuators
Author :
Chassiakos, A. ; Bekey, G.A.
Author_Institution :
University of Southern California, Los Angeles, CA
Abstract :
In this paper the modelling and control of a single-link manipulator with link flexibility is discussed. A linear state-space model is obtained and a controller is proposed with the actuators and measurements located at points along the length of the arm. Also a method for the optimal selection of the controllers´ locations is presented, so that bending is minimized during the arm motion. The results are validated by simulations.
Keywords :
Force control; Hydraulic actuators; Length measurement; Manipulators; Motion control; Optimal control; Position measurement; Robots; Strain control; Torque control;
Conference_Titel :
Decision and Control, 1986 25th IEEE Conference on
Conference_Location :
Athens, Greece
DOI :
10.1109/CDC.1986.267561
