DocumentCode
313094
Title
Experimental results on the control of a 2-DOF manipulator with a flexible forearm
Author
Koh, Tuck-Lye ; Krishnan, Hariharan ; Teo, Chee-Leong
Author_Institution
Dept. of Mech. & Production Eng., Nat. Univ. of Singapore, Singapore
Volume
3
fYear
1997
fDate
4-6 Jun 1997
Firstpage
1424
Abstract
We present experimental results on the position and vibration control of the end-effector of a 2-DOF parallelogram manipulator with a flexible forearm. Control strategies are implemented to control the manipulator. Experimental results are reported and the successful performance of the controllers in dampening out end-point vibrations is demonstrated
Keywords
manipulator dynamics; position control; vibration control; 2-DOF parallelogram manipulator; dampening; end-effector; end-point vibrations; flexible forearm; Assembly systems; Boundary conditions; Brushless motors; Damping; Equations; Frequency estimation; Friction; Manipulator dynamics; Rotors; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1997. Proceedings of the 1997
Conference_Location
Albuquerque, NM
ISSN
0743-1619
Print_ISBN
0-7803-3832-4
Type
conf
DOI
10.1109/ACC.1997.610662
Filename
610662
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