Control System Design of the Third Flexible Joint of PUMA 560 Robot

Abstract

With the increased demands for higher productivity in industry and the military, control of robot manipulators with flexible joints is needed. The difficulties associated with the control of flexible joint robots include: 1) Nonlinearity of the arm motion, 2) Coupled large motion (motion of the motor) and small motion (mechanical vibration); and 3) Measurements of feedback signals. This thesis presents a controller designed to handle the difficulties related to flexible joint robots. The third joint of the PUMA 560 Robot was selected as an example. A control algorithm for flexible-body control was devised and an observer was designed with the use of MATRIX sub x to control tip motion of the single-link single-joint system. Computer simulation results are discussed, and a comparison between rigid-body controllers and the flexible-body control is conducted. Keywords: Control systems design; Computer aided control engineering; Matrix analysis; Transfer functions; Computer programs. Theses.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1989
Accession Number
ADA218075

Entities

People

  • Robby L. Knight

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Closed Loop Systems
  • Computer Programs
  • Computer Simulations
  • Computers
  • Control Systems
  • Control Systems Engineering
  • Energy Consumption
  • Engineering
  • Equations
  • Feedback
  • Measurement
  • Mechanical Engineering
  • Plastic Explosives
  • Simulations
  • Systems Engineering
  • United States
  • Vibration

Fields of Study

  • Engineering

Readers

  • Control Systems Engineering.
  • Robotics and Automation.

Technology Areas

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