The effect of passive damping on feedback control performance of flexible manipulators
Conference
·
OSTI ID:10165877
This paper discusses the effect of passive damping on long-reach manipulators. Specifically, this paper explains how the addition of structural damping affects the closed-loop system response of the manipulators. A single-link flexible manipulator is used to illustrate the effects of passive damping on the location of the system`s pole s and zeros. The corresponding performance of the system with modified pole/zero locations is discussed. The analysis is performed including colocated and noncolocated flexible-link manipulators.
- Research Organization:
- Pacific Northwest Lab., Richland, WA (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC06-76RL01830
- OSTI ID:
- 10165877
- Report Number(s):
- PNL-SA-23330; CONF-9406133-2; ON: DE94015000
- Resource Relation:
- Conference: 1994 American control conference,Baltimore, MD (United States),29 Jun - 1 Jul 1994; Other Information: PBD: Jun 1994
- Country of Publication:
- United States
- Language:
- English
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