Stability Enhancement of a Flexible Robot Manipulator.

Abstract

A computer software programming technique was developed to compensate a highly oscillatory robot system controlled by a bang-bang input. The assumptions that the system was linear and had lumped parameter characteristics allowed a fifth order, simplified dynamic model to be derived. Analysis using frequency response methods led to further simplification of the model to a third order system. Based on the third order model, a technique was developed which would compensate the system with a form of deadbeat control. Simulation of the model driven by the compensated bang-bang input verified the deadbeat response. The technique was implemented on an 8080-based microcomputer system which controlled the input. Actual system response to the compensated input was observed to be essentially free of the undesirable oscillatory motions, thus yielding an apparently rigid system. (Author)

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Document Details

Document Type
Technical Report
Publication Date
Jun 24, 1983
Accession Number
ADA134185

Entities

People

  • Thomas D. Looke

Organizations

  • United States Naval Academy

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Computer Programming
  • Computer Programs
  • Computer Simulations
  • Computers
  • Control Systems
  • Engineering
  • Frequency
  • Frequency Response
  • Joints (Anatomy)
  • Machines
  • Mathematical Analysis
  • Molecular Dynamics
  • Resonant Frequency
  • Robots
  • Systems Engineering
  • United States
  • United States Naval Academy

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Calculus or Mathematical Analysis
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy