DocumentCode
3076910
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
fYear
1986
fDate
10-12 Dec. 1986
Firstpage
1145
Lastpage
1150
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1986 25th IEEE Conference on
Conference_Location
Athens, Greece
Type
conf
DOI
10.1109/CDC.1986.267561
Filename
4048950
Link To Document