Title

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.

Meeting Name

American Control Conference (1991: Jun. 26-28; Boston, MA)

Department(s)

Mechanical and Aerospace Engineering

Sponsor(s)

American Automatic Control Council

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)

07431619

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1991 American Automatic Control Council, Green Valley, AZ, All rights reserved.

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