Experiments on reaction null-space based decoupled control of a flexible structure mounted manipulator system
نویسندگان
چکیده
T h e control of a dextrous manipulator mounted o n a flexible structure is discussed. Using the concept of Reaction Null Space, the manipulator dynamics is decoupled f r o m the base dynamics. As a consequence of the decoupling, feedback control gains f o r structural vibration suppression and manipulator end-point control can be determined in a straightforward manner. W e examine experimentally the performance of the above control tasks, using a planar experimental setup.
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