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Record 1 of 2692
Positive position control of robotic manipulators
Author and Affiliation:
Baz, A.(Catholic University, of America, Washington, DC, United States)
Gumusel, L.(Catholic Univ. of America, Washington, DC, United States)
Abstract: The present, simple and accurate position-control algorithm, which is applicable to fast-moving and lightly damped robot arms, is based on the positive position feedback (PPF) strategy and relies solely on position sensors to monitor joint angles of robotic arms to furnish stable position control. The optimized tuned filters, in the form of a set of difference equations, manipulate position signals for robotic system performance. Attention is given to comparisons between this PPF-algorithm controller's experimentally ascertained performance characteristics and those of a conventional proportional controller.
Publication Date: May 01, 1989
Document ID:
19900036638
(Acquired Nov 28, 1995)
Accession Number: 90A23693
Subject Category: CYBERNETICS
Report/Patent Number: SME PAPER MS89-320
Document Type: Preprint
Publisher Information: United States
Contract/Grant/Task Num: NAG5-749
Financial Sponsor: NASA; United States
Organization Source: Catholic Univ. of America; Washington, DC, United States
Description: 16p; In English
Distribution Limits: Unclassified; Publicly available; Unlimited
Rights: Copyright
NASA Terms: POSITION SENSING; POSITIVE FEEDBACK; ROBOT ARMS; ROBOT CONTROL; ROBOT DYNAMICS; ALGORITHMS; CONTROLLERS; PROPORTIONAL CONTROL; TRANSFER FUNCTIONS
Imprint And Other Notes: Society of Manufacturing Engineers, Conference on Robots 13, Gaithersburg, MD, May 7-11, 1989. 16 p.
Availability Source: Other Sources
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