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Controller design for flexible, distributed parameter mechanical arms via combined state space and frequency domain techniquesThe potential benefits of the ability to control more flexible mechanical arms are discussed. A justification is made in terms of speed of movement. A new controller design procedure is then developed to provide this capability. It uses both a frequency domain representation and a state variable representation of the arm model. The frequency domain model is used to update the modal state variable model to insure decoupled states. The technique is applied to a simple example with encouraging results.
Document ID
19830046269
Document Type
Conference Proceedings
Authors
Book, W. J. (Georgia Institute of Technology Atlanta, GA, United States)
Majett, M. (Hewlett-Packard, Inc. San Diego, CA, United States)
Date Acquired
August 11, 2013
Publication Date
January 1, 1982
Subject Category
CYBERNETICS
Meeting Information
Robotics research and advanced applications; Winter Annual Meeting(Phoenix, AZ)
Funding Number(s)
CONTRACT_GRANT: NAS9-13809
Distribution Limits
Public
Copyright
Other