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Control of a flexible bracing manipulator: integration of current research work to realize the bracing manipulator
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Kwon, Dong-Soo |
| Copyright Year | 1991 |
| Description | All research results about flexible manipulator control were integrated to show a control scenario of a bracing manipulator. First, dynamic analysis of a flexible manipulator was done for modeling. Second, from the dynamic model, the inverse dynamic equation was derived, and the time domain inverse dynamic method was proposed for the calculation of the feedforward torque and the desired flexible coordinate trajectories. Third, a tracking controller was designed by combining the inverse dynamic feedforward control with the joint feedback control. The control scheme was applied to the tip position control of a single link flexible manipulator for zero and non-zero initial condition cases. Finally, the contact control scheme was added to the position tracking control. A control scenario of a bracing manipulator is provided and evaluated through simulation and experiment on a single link flexible manipulator. |
| File Size | 68331 |
| Page Count | 2 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19910021211 |
| Archival Resource Key | ark:/13960/t1gj4d93w |
| Language | English |
| Publisher Date | 1991-01-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Controllers Flexible Bodies Torque Stability Manipulators Trajectories Feedback Control Robotics Dynamic Control Simulation Feedforward Control Dynamic Models Robots Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |
