Adaptive Control of a Manipulator with a Flexible Link.

Abstract

An adaptive controller for a manipulator with one rigid link and one flexible link is presented. The performance and robustness of the controller are demonstrated by numerical simulation results. In the simulations, the manipulator moves in a gravitational field and a finite element model represents the flexible link. Keywords: Adaptive control, Robot, Flexible link.

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Document Details

Document Type
Technical Report
Publication Date
Feb 01, 1988
Accession Number
ADA192763

Entities

People

  • J. S. Gibson
  • Yaping Yang

Tags

Communities of Interest

  • Space

DTIC Thesaurus Topics

  • Algorithms
  • Closed Loop Systems
  • Control Systems
  • Control Systems Engineering
  • Deflection
  • Engineering
  • Equations
  • Equations Of Motion
  • Estimators
  • Frequency
  • Gravitational Fields
  • Gravity
  • Nonlinear Dynamics
  • Oscillation
  • Sampling
  • Simulations
  • Vibration

Fields of Study

  • Engineering

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control