Position and Force Control of Flexible Robotic Manipulators using the LQG/LTR Design Methodology
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.
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.
American Control Conference (1991: Jun. 26-28, Boston, MA)
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)
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Article - Conference proceedings
© 1991 American Automatic Control Council, All rights reserved.
28 Jun 1991