Journal ArticleDOI
Feedback control of two beam, two joint systems with distributed flexibility
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In this paper, three types of linear feedback control schemes are considered: joint angle and velocity feedback with (GRC) and without (IJC) cross joint feedback, and feedback of flexible state variables (FFC).Abstract:
The control of the flexible motion in a plane of two pinned beams is addressed with application to remote manipulators. Three types of linear feedback control schemes are considered: joint angle and velocity feedback with (GRC) and without (IJC) cross joint feedback, and feedback of flexible state variables (FFC). Two models of the distributed flexibility are presented along with some results obtained from them. The relative merit of the three control schemes is discussed.read more
Citations
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Journal ArticleDOI
A new feedback method for dynamic control of manipulators
Morikazu Takegaki,Suguru Arimoto +1 more
TL;DR: A new approach to the dynamic control of manipulators is developed from the viewpoint of mechanics and it is shown that a linear feedback of generalized coordinates and their derivatives are effective for motion control in the large.
Journal ArticleDOI
Recursive Lagrangian Dynamics of Flexible Manipulator Arms
TL;DR: In this article, nonlinear equations of motion are developed for flexible manipulator arms consisting of rotary joints that connect pairs of flexible links and the link deflection is assumed small so that the link transformation can be composed of summations of assumed link shapes.
Journal ArticleDOI
Computational strategies for flexible multibody systems
Tamer M. Wasfy,Ahmed K. Noor +1 more
TL;DR: The status and some recent developments in computational modeling of flexible multibody systems are summarized in this article, where a number of aspects of flexible multi-body dynamics including: modeling of the flexible components, constraint modeling, solution techniques, control strategies, coupled problems, design, and experimental studies.
Journal ArticleDOI
Adaptive linear controller for robotic manipulators
Antti J. Koivo,Ten-Huei Guo +1 more
TL;DR: This paper presents a new approach to the position and velocity control of a manipulator by using an adaptive controller of the self-tuning type for each joint using the difference equation model and a chosen performance criterion.
Journal ArticleDOI
Direct strain feedback control of flexible robot arms: new theoretical and experimental results
TL;DR: The introduction of the concept of (strict) A-dependent operators is introduced, which allows us to prove rigorously the closed loop stability of direct strain feedback and the existence and uniqueness of nonstandard second order abstract differential equations in Hilbert spaces.
References
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TL;DR: In this paper, a book on analytical methods in vibrations covering general mathematical formulations of common features of various vibrating systems is presented, including a mathematical formulation of a vibrational model.
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A guided tour of the fast Fourier transform
TL;DR: This article is intended as a primer on the fast Fourier transform, which has revolutionized the digital processing of waveforms and is needed for a whole new range of applications for this classic mathematical device.
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A theory of modal control
J. D. Simon,Sanjoy K. Mitter +1 more
TL;DR: This paper presents a complete and rigorous theory of modal control as well as recursive algorithms which permit modal controlled systems to be realized.
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Application of Distributed Parameter Concepts to Dynamic Analysis and Control of Bending Vibrations
TL;DR: In this paper, the authors apply distributed parameter concepts of propagation and reflection to dynamics and control analysis of bending vibrations in flexible aerospace vehicles and apply these concepts to dynamic analysis of bend vibrations.
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