Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of LimitationsReport as inadecuate


Performance of Lightweight Manipulators Under Joint Variable Feedback Control: Analytical Study of Limitations


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The performance limitations of joint variable feedback controlled manipulators due to manipulator flexibility are studied in fine and gross motions. A finite dimensional time-domain manipulator model is used in the study. Fine motion analysis results agree very well with the previously reported results based on infinite dimensional frequency domain models. The limitations of a class of adaptive controllers in high speed gross motion control are studied. Manipulation speeds are quantified as low, medium, or high with reference to the arm flexibility and dynamic nonlinearities.



Intelligent Machine Dynamics Laboratory - Intelligent Machine Dynamics Laboratory Publications -



Author: Cetinkunt, Sabri - Book, Wayne John - -

Source: https://smartech.gatech.edu/



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