Performance Limitations of ' Joint Variable - Feedback _ Controllers - _ Dlle ' to _ ~ - Maiiiplllafor - . Structural . Flexibility
نویسنده
چکیده
The performance limitations of manipulators under joint wriable feedback contrQI are studied as a function of the mechanical flexibility inherent in the manipulator structure. A finite dimensional time domain dynamic model of a two-link, two-joint planar manipulator is used in the study. Emphasis is placed on determining the limitations of control algorithms that use only joint variable feedback information in calculations of control decision since most motion control systems in practice are of this kind. Both fine and gross motion cases are studied. Fine motion .results agree well with previously reported results in the literature and are also helpful in explaining the performance limitations in fast gross· motions.
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