Abstract
In this article, an force control scheme for flexible link manipulators is considered. The control output is composed of a feedforward and a feedback term. The feedforward torque component is based upon the underlying rigid arm dynamics along the desired trajectory. The feedback controller structure corresponds to an on-line Linear Quadratic Regulator. The effects of joint coordinate versus end-point sensing, environment impedance, input preshaping, and sampling time on the transient response are investigated. The proposed control scheme is employed in simulation studies on a two link rigid-flexible manipulator.
| Original language | English (US) |
|---|---|
| Pages | 229-236 |
| Number of pages | 8 |
| State | Published - 1994 |
| Event | Proceedings of the 1994 International Mechanical Engineering Congress and Exposition - Chicago, IL, USA Duration: Nov 6 1994 → Nov 11 1994 |
Other
| Other | Proceedings of the 1994 International Mechanical Engineering Congress and Exposition |
|---|---|
| City | Chicago, IL, USA |
| Period | 11/6/94 → 11/11/94 |
ASJC Scopus subject areas
- Software
- Mechanical Engineering