Position and Force Control of Flexible Robotic Manipulators using the LQG/LTR Design Methodology
Abstract
Control of a two link planar manipulator with one flexible link executing constrained and unconstrained maneuvers is considered. The dynamic model includes the impact force generated during the transition from an unconstrained to a constrained segment of the robotic task. The linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design methodology is exploited to design a robust feedback control system that can handle modeling errors and sensor noise, and operate on Cartesian space trajectory errors. The LQG/LTR compensator together with a feedforward loop is used to control the flexible manipulator. Simulation results are presented.
Recommended Citation
B. O. Choi and K. Krishnamurthy, "Position and Force Control of Flexible Robotic Manipulators using the LQG/LTR Design Methodology," Proceedings of the American Control Conference (1991, Boston, MA), vol. 2, pp. 1913 - 1914, American Automatic Control Council, Jun 1991.
Meeting Name
American Control Conference (1991: Jun. 26-28, Boston, MA)
Department(s)
Mechanical and Aerospace Engineering
Keywords and Phrases
Computer Simulation; Elasticity; Mechanical Variables Measurement--Position; Robots--Manipulators; Linear Quadratic Gaussian; Control Systems
International Standard Book Number (ISBN)
0879425652
International Standard Serial Number (ISSN)
0743-1619
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 1991 American Automatic Control Council, All rights reserved.
Publication Date
28 Jun 1991
