Small motion experiments on a large flexible arm with strain feedbackInitial experiments on state-space feedback control of a large flexible manipulator with a parallel linkage drive are described. A linear controller using joint angle and strain measurements has been designed to minimize a quadratic performance index with a prescribed stability margin. It is based on a simplified model that accounts for the constraints of the parallel linkage kinematically rather than through constraint forces. The results show substantial improvement over a simple proportional-derivative joint control.
Document ID
19890066689
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Yuan, B. S. (American Semiconductor Equipment Technologies Woodland Hills, CA, United States)
Huggins, J. D. (Georgia Inst. of Tech. Atlanta, GA, United States)
Book, W. J. (Georgia Institute of Technology Atlanta, United States)