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Feedback control of two beam, two joint systems with distributed flexibilityThe control of the flexible motion in a plane of two pinned beams is addressed with application to remote manipulators. Three types of linear feedback control schemes are considered: joint angle and velocity feedback with (GRC) and without (IJC) cross joint feedback, and feedback of flexible state variables (FFC). Two models of the distributed flexibility are presented along with some results obtained from them. The relative merit of the three control schemes is discussed.
Document ID
19760038903
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Book, W. J. (Georgia Institute of Technology Atlanta, Ga., United States)
Maizza-Neto, O. (Sao Paulo, Universidade Sao Paulo, Brazil)
Whitney, D. E. (Charles Stark Draper Laboratory, Inc. Cambridge, Mass., United States)
Date Acquired
August 8, 2013
Publication Date
November 1, 1975
Subject Category
Cybernetics
Report/Patent Number
ASME PAPER 75-WA/AUT-26
Report Number: ASME PAPER 75-WA/AUT-26
Meeting Information
Meeting: Winter Annual Meeting
Location: Houston, TX
Start Date: November 30, 1975
End Date: December 4, 1975
Sponsors: American Society of Mechanical Engineers
Accession Number
76A21869
Funding Number(s)
CONTRACT_GRANT: NAS8-28055
Distribution Limits
Public
Copyright
Other

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