NASA NTRS · 19890066689
Small motion experiments on a large flexible arm with strain feedback
Abstract
Initial experiments on state-space feedback control of a large flexible manipulator with a parallel linkage drive are described. A linear controller using joint angle and strain measurements has been designed to minimize a quadratic performance index with a prescribed stability margin. It is based on a simplified model that accounts for the constraints of the parallel linkage kinematically rather than through constraint forces. The results show substantial improvement over a simple proportional-derivative joint control.
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Yuan, B. S., Huggins, J. D., Book, W. J.. 1989-01-01. Small motion experiments on a large flexible arm with strain feedback. https://ntrs.nasa.gov/citations/19890066689
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