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Control of a small working robot on a large flexible manipulator for suppressing vibrations: Development of a robust control law for flexible robot and it's stability analysisResearchers developed a robust control law for slow motions for the accurate trajectory control of a flexible robot. The control law does not need larger velocity gains than position gains, which some researchers need to ensure the stability of a rigid robot. Initial experimentation for the Small Articulated Manipulator (SAM) shows that control laws that use smaller velocity gains are more robust to signal noise than the control laws that use larger velocity gains. Researchers analyzed the stability of the composite control law, the robust control for the slow motion, and the strain rate feedback for the fast control. The stability analysis was done by using a quadratic Liapunov function. Researchers found that the flexible motion of links could be controlled by relating the input force to the flexible signals which are sensed at the near tip of each link. The signals are contaminated by the time delayed input force. However, the effect of the time delayed input force can be reduced by giving a certain configuration to the SAM.
Document ID
19910021212
Acquisition Source
Legacy CDMS
Document Type
Other
Authors
Soo, Han Lee
(Georgia Inst. of Tech. Atlanta, GA, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1991
Publication Information
Publication: Manipulation Strategies for Massive Space Payloads
Subject Category
Mechanical Engineering
Accession Number
91N30526
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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