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Performance limitations of joint variable-feedback controllers due to manipulator structural flexibilityThe performance limitations of manipulators under joint variable-feedback control are studied as a function of the mechanical flexibility inherent in the manipulator structure. A finite-dimensional time-domain dynamic model of a two-link two-joint planar manipulator is used in the study. Emphasis is placed on determining the limitations of control algorithms that use only joint variable-feedback information in calculations of control decisions, since most motion control systems in practice are of this kind. Both fine and gross motion cases are studied. Results for fine motion agree well with previously reported results in the literature and are also helpful in explaining the performance limitations in fast gross motions.
Document ID
19900054576
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
External Source(s)
Authors
Cetinkunt, Sabri
(Illinois, University Chicago, United States)
Book, Wayne J.
(Georgia Institute of Technology Atlanta, United States)
Date Acquired
August 14, 2013
Publication Date
April 1, 1990
Publication Information
Publication: IEEE Transactions on Robotics and Automation
Volume: 6
ISSN: 1042-296X
Subject Category
Cybernetics
Accession Number
90A41631
Funding Number(s)
CONTRACT_GRANT: NSF MEA-83-03539
CONTRACT_GRANT: NAG1-623
Distribution Limits
Public
Copyright
Other

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