Feedback Control of Two Beam, Two Joint Systems With Distributed Flexibility-Reference-Cited by-同舟云学术

Feedback Control of Two Beam, Two Joint Systems With Distributed Flexibility

Published:1975-12-01 Issue:4 Volume:97 Page:424-431
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Book W. J.¹,Maizza-Neto O.²,Whitney D. E.³

Affiliation:

1. Georgia Institute of Technology, Atlanta, Ga.

2. Escola Politecnia da U.S.P., Sao Paulo, S. P., Brazil

3. Charles Stark Draper Lab., Cambridge, Mass.

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.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/97/4/424/5507164/424_1.pdf

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