Control System Simulation for a Single-Link Flexible Arm.

Abstract

To control a lightweight manipulator, a validated dynamic model based on the Equivalent Rigid Link System (ERLS), is used to formulate a control algorithm. The required torque to drive the manipulator to a desired angle is calculated. Since the control system includes an electrohydraulic actuator, the required current is also calculated by the inverse dynamics of the hydraulic servo. A computerized simulation is performed with various loading conditions, gain values, and desired angles. Keywords: Flexible manipulator. (Thesis)

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1987
Accession Number
ADA187037

Entities

People

  • Ki S. Park

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • C4I
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Actuators
  • Air Force
  • Angular Acceleration
  • Computational Science
  • Computer Simulations
  • Computers
  • Control Systems
  • Dynamics
  • Engineering
  • Equations
  • Equations Of Motion
  • Kinetic Energy
  • Measurement
  • Mechanical Engineering
  • Navy
  • Schools
  • Simulations

Fields of Study

  • Engineering

Readers

  • Robotics and Automation.