Linear quadratic regulator force control design for flexible link manipulators

Joseph Borowiec, Antonios Tzes

Research output: Contribution to conferencePaper

Abstract

In this article, an force control scheme for flexible link manipulators is considered. The control output is composed of a feedforward and a feedback term. The feedforward torque component is based upon the underlying rigid arm dynamics along the desired trajectory. The feedback controller structure corresponds to an on-line Linear Quadratic Regulator. The effects of joint coordinate versus end-point sensing, environment impedance, input preshaping, and sampling time on the transient response are investigated. The proposed control scheme is employed in simulation studies on a two link rigid-flexible manipulator.

Original languageEnglish (US)
Pages229-236
Number of pages8
StatePublished - Dec 1 1994
EventProceedings of the 1994 International Mechanical Engineering Congress and Exposition - Chicago, IL, USA
Duration: Nov 6 1994Nov 11 1994

Other

OtherProceedings of the 1994 International Mechanical Engineering Congress and Exposition
CityChicago, IL, USA
Period11/6/9411/11/94

Fingerprint

Force control
Manipulators
Flexible manipulators
Feedback
Transient analysis
Torque
Trajectories
Sampling
Controllers

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering

Cite this

Borowiec, J., & Tzes, A. (1994). Linear quadratic regulator force control design for flexible link manipulators. 229-236. Paper presented at Proceedings of the 1994 International Mechanical Engineering Congress and Exposition, Chicago, IL, USA, .

Linear quadratic regulator force control design for flexible link manipulators. / Borowiec, Joseph; Tzes, Antonios.

1994. 229-236 Paper presented at Proceedings of the 1994 International Mechanical Engineering Congress and Exposition, Chicago, IL, USA, .

Research output: Contribution to conferencePaper

Borowiec, J & Tzes, A 1994, 'Linear quadratic regulator force control design for flexible link manipulators' Paper presented at Proceedings of the 1994 International Mechanical Engineering Congress and Exposition, Chicago, IL, USA, 11/6/94 - 11/11/94, pp. 229-236.
Borowiec J, Tzes A. Linear quadratic regulator force control design for flexible link manipulators. 1994. Paper presented at Proceedings of the 1994 International Mechanical Engineering Congress and Exposition, Chicago, IL, USA, .
Borowiec, Joseph ; Tzes, Antonios. / Linear quadratic regulator force control design for flexible link manipulators. Paper presented at Proceedings of the 1994 International Mechanical Engineering Congress and Exposition, Chicago, IL, USA, .8 p.
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