Correction of path tracking errors in a two-link flexible robotic manipulator
Conference
·
OSTI ID:457411
- Univ. of Southwestern Louisiana, Lafayette, LA (United States)
Path tracking errors in a two-link flexible robotic manipulator are studied by means of time domain computer simulations. Structural flexibilities of the driven members and the dynamic of the servo motors are considered in the system model. It is shown that the joint angle commands to the servometers can be conditioned in a way that overcomes the following errors in the servos, and that virtually eliminates vibrations in the driven members. Tracking errors can therefore be greatly minimized. This feedforward approach is presently being studied on an experimental apparatus, and may be useful in improving the slewing control of flexible space manipulators.
- OSTI ID:
- 457411
- Report Number(s):
- CONF-9504112-; TRN: 97:012242
- Resource Relation:
- Conference: International conference and exhibit of the Instrument Society of America (ISA) - instrumentation, systems, automation, Toronto (Canada), 25-27 Apr 1995; Other Information: PBD: 1995; Related Information: Is Part Of Advances in instrumentation and control. Volume 50, Part 2; PB: 804 p.
- Country of Publication:
- United States
- Language:
- English
Similar Records
Optimal trajectories for flexible-link manipulator slewing using recursive quadratic programming: Experimental verification
Minimum-time trajectory control of a two-link flexible robotic manipulator
Integration of model-based and sensor-based control for a two-link flexible robot arm
Conference
·
Thu Sep 01 00:00:00 EDT 1994
·
OSTI ID:457411
Minimum-time trajectory control of a two-link flexible robotic manipulator
Conference
·
Mon Jan 01 00:00:00 EST 1990
·
OSTI ID:457411
+1 more
Integration of model-based and sensor-based control for a two-link flexible robot arm
Conference
·
Mon Jan 01 00:00:00 EST 1990
·
OSTI ID:457411