DocumentCode
3079038
Title
Anatomy of an experimental two-link flexible manipulator under end-point control
Author
Oakley, C.M. ; Cannon, Robert H., Jr.
Author_Institution
Aerosp. Robotics Lab., Stanford Univ., CA, USA
fYear
1990
fDate
5-7 Dec 1990
Firstpage
507
Abstract
The design and experimental implementation of an end-point controller for two-link flexible manipulators are presented. The end-point controller is based on linear quadratic Gaussian (LQG) theory and is shown to exhibit significant improvements in trajectory tracking over a conventional controller design. To understand the behavior of the manipulator structure under end-point control, a strobe sequence illustrating the link deflections during a typical slew maneuver is included
Keywords
control system synthesis; optimal control; position control; robots; LQG; control system synthesis; design; end-point control; flexible manipulator; linear quadratic Gaussian; link deflections; optimal control; robots; slew maneuver; trajectory tracking; Actuators; Aerospace control; Anatomy; Coils; Elbow; Laboratories; Manipulators; Payloads; Robots; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location
Honolulu, HI
Type
conf
DOI
10.1109/CDC.1990.203649
Filename
203649
Link To Document