| タイトル | End-point control of a two-link manipulator with a very flexible forearm - Issues and experiments |
| 著者（英） | Oakley, Celia M.; Cannon, Robert H., Jr. |
| 著者所属（英） | Stanford Univ. |
| 発行日 | 1989-01-01 |
| 言語 | eng |
| 内容記述 | For mechanical manipulators, a logical sensor location is at the manipulator end-point where tasks are performed. Unfortunately, when bending flexibility exists between an end-point sensor and a joint actuator, stability and performance are achieved only through sophisticated control design. Some of the issues involved in utilizing end-point sensing for two-link flexible manipulators are addressed. A modeling technique that properly represents the foreshortening of a flexible link undergoing deflections is presented. In order to realize fully the advantages of the assumed-modes modeling method, mode shapes are selected that allow a low-order model to be used effectively for simulation and control purposes. A nonlinear controller, incorporating state feedback and a constant-gain extended Kalman filter driven by end-point measurements, is designed and compared to a conventional proportional-plus-derivative controller that uses collocated sensors. Results from implementing these controllers on the experimental Stanford multilink flexible manipulator are given. |
| NASA分類 | CYBERNETICS |
| レポートNO | 89A54029 |
| 権利 | Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/361237 |
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