Anatomy of an experimental two-link flexible manipulator under end-point controlThe design and experimental implementation of an end-point controller for two-link flexible manipulators are presented. The end-point controller is based on linear quadratic Gaussian (LQG) theory and is shown to exhibit significant improvements in trajectory tracking over a conventional controller design. To understand the behavior of the manipulator structure under end-point control, a strobe sequence illustrating the link deflections during a typical slew maneuver is included.
Document ID
19920028740
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Oakley, Celia M. (Stanford Univ. CA, United States)
Cannon, Robert H., Jr. (Stanford University CA, United States)