• DocumentCode
    813959
  • Title

    Tracking control of a flexible robot link

  • Author

    Davis, John H. ; Hirschorn, Ronald M.

  • Author_Institution
    Dept. of Math. & Stat., Queen´´s Univ., Kingston, Ont., Canada
  • Volume
    33
  • Issue
    3
  • fYear
    1988
  • fDate
    3/1/1988 12:00:00 AM
  • Firstpage
    238
  • Lastpage
    248
  • Abstract
    The formulation of an appropriate hybrid lumped/distributed model of a flexible robot link makes it possible to formulate and study tracking problems without the necessity for a priori approximations in the flexibility model for the link. The use of secondary support beam and active tip control provides perfect tracking with hypothetical exact measurements, and tracking to arbitrary accuracy with use of a variant of the acceleration feedback technique
  • Keywords
    feedback; position control; robots; acceleration feedback; active tip control; flexible robot link; hybrid lumped/distributed model; position control; tracking control; Acceleration; Accelerometers; Actuators; Context modeling; Control system synthesis; Distributed control; Feedback; Manipulator dynamics; Particle beams; Robot kinematics;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/9.401
  • Filename
    401
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=813959