Linear quadratic regulator force control design for flexible link manipulators

Joseph Borowiec, Anthony Tzes

Research output: Contribution to conferencePaperpeer-review

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 languageEnglish (US)
Pages229-236
Number of pages8
StatePublished - 1994
EventProceedings of the 1994 International Mechanical Engineering Congress and Exposition - Chicago, IL, USA
Duration: Nov 6 1994Nov 11 1994

Other

OtherProceedings of the 1994 International Mechanical Engineering Congress and Exposition
CityChicago, IL, USA
Period11/6/9411/11/94

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

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