NDLI: Initial Experiments on the Control of a Two-Link Manipulator with a Very Flexible Forearm

Content Provider	IEEE Xplore Digital Library
Author	Oakley, Celia M. Cannon, Robert H.
Copyright Year	1988
Description	Author affiliation: NSF Fellow, Department of Mechanical Engineering, Stanford University (Oakley, Celia M.) \|\| Charles Lee Powell Professor and Chairman, Department of Aeronautics and Astronautics, Stanford University (Cannon, Robert H.)
Abstract	Understanding how to control the flexibility in mechanical manipulator allows us to increase their performance and to reliably design and control larger, lighter, and more power-efficient manipulators. To date, a number of papers and some experiments have addressed the control of single-link flexible manipulators. In order to understand fully and to control a larger, more useful class of manipulators, we need to extend our knowledge further to the two-link configuration. To this end, this paper addresses the dynamics and control of a two-link manipulator with a very flexible forearm. Further, to verify the theoretical developments, an experimental planar two-link flexible manipulator system has been constructed. A nonlinear model of the experimental manipulator is developed using an assumed-modes description for the deflections in the forearm link. The design of an initial collocated proportional-plus-derivative controller is presented and implemented on the experimental manipulator. For a step command of 10° in each joint, the simulation and experimental responses are found to be in excellent agreement.
Starting Page	996
Ending Page	1003
File Size	941358
Page Count	8
File Format	PDF
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-06-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Manipulator dynamics Force control Aerodynamics Elbow Control design Nonlinear equations Lighting control Shoulder Computational modeling Mechanical engineering
Content Type	Text
Resource Type	Article

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