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Initial experiments on the end-point control of a flexible one-link robotThe present investigation is concerned with initial experiments regarding a specific unsolved control problem which appeared to be central to advances in the art of robotics. This problem involves the control of a flexible member (one link of a robot system). The position of the end-effector, called the end point or tip, is controlled by measuring that position and using the measurement as a basis for applying control torque to the other end of the flexible member, as for instance, the robot's elbow joint. A description is presented of the features of the first experimental arm which has been made, and an outline is provided of the general strategy for controlling it using its tip sensor and shoulder torquer.
Document ID
19850033592
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
Authors
Cannon, R. H., Jr.
(Stanford University Stanford, CA, United States)
Schmitz, E.
(Stanford University Stanford, CA; Ford Aerospace and Communications Corp., Detroit, MI, United States)
Date Acquired
August 12, 2013
Publication Date
January 1, 1984
Publication Information
Publication: International Journal of Robotics Research
Volume: 3
ISSN: 0278-3649
Subject Category
Engineering (General)
Accession Number
85A15743
Distribution Limits
Public
Copyright
Other

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