@inproceedings{563357b2f5524304b1091a46410f6f98,
title = "Experimental results on an inner/outer loop controller for a two-link flexible manipulator",
abstract = "Experimental results for end-point positioning of multi-link flexible manipulators are considered. This control strategy has been implemented on an experimental test-bed developed at the Control/Robotics Research Laboratory at Polytechnic University. The advocated approach is based on a two-stage control design. The first stage is an inner-loop nonlinear-based controller corresponding to the rigid body motion of the manipulator. The second stage is an outer control loop based on linear output LQR design. The outer-loop control design results in a nonconvex nonlinear optimization problem. A software package has been developed to solve this problem. The outer-loop controller enhances vibration damping and robustness of the closed-loop dynamics to parameter variations. The measurement utilized for vibration suppression is through an accelerometer attached at the end point of the manipulator.",
author = "Farshad Khorrami and Sandeep Jain",
year = "1992",
month = apr,
language = "English (US)",
isbn = "0818627204",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Publ by IEEE",
pages = "742--747",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
note = "Proceedings 1992 IEEE International Conference on Robotics and Automation ; Conference date: 12-05-1992 Through 14-05-1992",
}