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Modal analysis and control of flexible manipulator armsThe possibility of modeling and controlling flexible manipulator arms was examined. A modal approach was used for obtaining the mathematical model and control techniques. The arm model was represented mathematically by a state space description defined in terms of joint angles and mode amplitudes obtained from truncation on the distributed systems, and included the motion of a two link two joint arm. Three basic techniques were used for controlling the system: pole allocation with gains obtained from the rigid system with interjoint feedbacks, Simon-Mitter algorithm for pole allocation, and sensitivity analysis with respect to parameter variations. An improvement in arm bandwidth was obtained. Optimization of some geometric parameters was undertaken to maximize bandwidth for various payload sizes and programmed tasks. The controlled system is examined under constant gains and using the nonlinear model for simulations following a time varying state trajectory.
Document ID
19740027192
Acquisition Source
Legacy CDMS
Document Type
Thesis/Dissertation
Authors
Neto, O. M. (Massachusetts Inst. of Tech. Cambridge, MA, United States)
Date Acquired
September 3, 2013
Publication Date
September 10, 1974
Subject Category
Structural Mechanics
Report/Patent Number
NASA-CR-120494
Accession Number
74N35305
Funding Number(s)
CONTRACT_GRANT: NAS8-28055
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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