End Point Control of Flexible Manipulators

Abstract

This report covers research toward a technology for very quick, precise two-arm cooperative manipulation with the use of end-point control. The research addresses precision force control and dynamic cooperation of two manipulators. Unavoidable flexibility in the drive trains of robots and the robots' mounts make precise end-point control of flexible robots important. This research is part of a series of experiments requiring increasingly more advanced control capability and working with exaggerated flexibility to force solution of fundamental problems. The report covers 1) cooperating two-link arms with flexible drive trains, 2) control of a flexible robot arm with a two degree-of-freedom mini-manipulator, and 3) force control of a two-link arm with a flexible drive train. Keywords: Robotics; Manipulators; Servo-controls; Optimal control.

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1988
Accession Number
ADA217319

Entities

People

  • Brian Andersen
  • Lawrence E. Pfeffer
  • Raymond Kraft
  • Robert H. Cannon Jr.

Organizations

  • Stanford University

Tags

Communities of Interest

  • Advanced Electronics
  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors
  • Space

DTIC Thesaurus Topics

  • Algorithms
  • Computational Complexity
  • Computer Programming
  • Computers
  • Control Systems
  • Coordinate Systems
  • Geometry
  • Joints (Anatomy)
  • Kalman Filters
  • Measurement
  • Motion Planning
  • Moving Targets
  • Optimal Estimators
  • Research Facilities
  • Robotics
  • Robots
  • Strain Gages

Fields of Study

  • Engineering
  • Psychology

Readers

  • Robotics and Automation.

Technology Areas

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