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
fDate :
3/1/1988 12:00:00 AM
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;
Journal_Title :
Automatic Control, IEEE Transactions on
