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## Initial Experiments on the End-Point Control of Flexible one Link (1984)

Venue: | Robot,"Proceedings of The International Journal of Robotics Research |

Citations: | 111 - 1 self |

### Citations

361 |
Digital Control of Dynamic Systems,
- Franklin, Powell
- 1980
(Show Context)
Citation Context ...en discretized internally. For sufficiently fast sampling rates, the discrete closed-loop roots will match the one obtained from a continuous s-plane design. From optimal control theory (Bryson 1979; =-=Franklin and Powell 1980-=-), we know that the closed-loop regulator roots for an splane design are the stable roots of a symmetric root locus drawn versus the gain p = T 2 As the gain p tends to infinity (i.e., decreasing pena... |

237 | Robot Manipulators: Mathematics, Programming and Control - Paul - 1981 |

24 |
Basic Relations for Control of Flexible Vehicles,"
- Gevarter
- 1970
(Show Context)
Citation Context ...rol of a Flexible One-Link Robot Robert H. Cannon, Jr. Eric Schmitz Stanford University Department of Aeronautics and Astronautics Stanford, California 94305 Abstract It has been known for some time (=-=Gevarter 1970-=-) that if a flexible structure is controlled by locating every sensor exactly at the actuator it will control, then stable operation is easy to achieve. Nearly all commercial robots are controlled in ... |

15 |
On the Control of Flexible Mechanical Systems,"
- Martin
- 1978
(Show Context)
Citation Context ...sensors of interest here, we get It has been shown that any colocated transfer function for a linear flexible structure is made up of alternating poles and zeros on the imaginary axis (Gevarter 1970; =-=Martin 1978-=-). Therefore, (Eq. 10) can also be written as The experimental procedure for obtaining the values of the constants in (Eqs. 10-12) is as follows. A sinusoidal voltage is input to the dc motor amplifie... |

1 |
Control of flexible spacecraft
- Breakwell
- 1980
(Show Context)
Citation Context ... use because they are readily identified in the experimental procedure. Their choice is not easily generalized for the flexible multilink robot case, however. The orthogonality relation used here is (=-=Breakwell 1980-=-) The general solution y is then written as where i = 0 is the rigid-body mode (0,(x) = x). By use of (Eqs. 2, 3, 6, and 7), we get a simple expression for the Lagrangian L of the system: We could hav... |

1 |
Some connections between modem and classical control concepts
- Bryson
- 1979
(Show Context)
Citation Context ..., which is then discretized internally. For sufficiently fast sampling rates, the discrete closed-loop roots will match the one obtained from a continuous s-plane design. From optimal control theory (=-=Bryson 1979-=-; Franklin and Powell 1980), we know that the closed-loop regulator roots for an splane design are the stable roots of a symmetric root locus drawn versus the gain p = T 2 As the gain p tends to infin... |

1 |
Selection of sampling rate for digital control of aircrafts
- Katz, Powell
- 1974
(Show Context)
Citation Context ... the dynamic model identified here to design an eighth-order, LQG compensator based on the Stanford discretized version of the optimal steady-state linear quadratic Gaussian algorithm (DISC program) (=-=Katz and Powell 1974-=-). The sampling period T, used for the design discussed here was 50 Hz. The DISC algorithm has two steps: 1. It computes a set of constant, full-state feedback gains that &dquo;optimally&dquo; shift t... |

1 | Real-time software manual for conirol applications (RT-11 operating system - Maples - 1981 |

1 |
Electronics design drawings for the flexible arm experiment facility
- Maples
- 1982
(Show Context)
Citation Context ...han ± 0.5 mm. The sensor’s performance was greatly improved by the addition of a &dquo;hood&dquo; around the sensor fixture, which eliminated background &dquo;noise&dquo; caused by the ambient light (=-=Maples 1982-=-). Three pairs of strain gauges are glued on both sides of one of the two beams to serve as additional sensors for control purposes, if desired. The tip can also be fitted with a payload gripper. 3. C... |