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
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;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.610662
