Publication Date:
2019-07-13
Description:
Initial experiments on state-space feedback control of a large flexible manipulator with a parallel linkage drive are described. A linear controller using joint angle and strain measurements has been designed to minimize a quadratic performance index with a prescribed stability margin. It is based on a simplified model that accounts for the constraints of the parallel linkage kinematically rather than through constraint forces. The results show substantial improvement over a simple proportional-derivative joint control.
Keywords:
CYBERNETICS
Type:
1989 American Control Conference; Jun 21, 1989 - Jun 23, 1989; Pittsburgh, PA; United States
Format:
text
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