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Proceedings Paper

Near Optimal Control Of Flexible Robots
Author(s): Gerald Cook; Subhra Pal; Harry E. Stephanou
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Paper Abstract

This paper deals with an exact state-space dynamic model for a manipulator with a single flexible link. The Bernoulli-Euler beam equations are used to derive the matrix transfer function. This transfer function can be used to describe the link or beam displacement at any position along the beam. A 6th order state model is derived and the opttmal linear regulator controller is determined. It is shown that using a "raised cosine" reference command signal yields a smooth yet quick response. Finally unmodeled modes are added to the plant making it 8th order. The controller and observer are based on the 6th order model. In the performance degrades significantly; however the addition of a very simple law pass filter operating on the control signal restores the behavior to excellent quality.

Paper Details

Date Published: 19 October 1987
PDF: 8 pages
Proc. SPIE 0856, IECON '87: Industrial Applications of Robotics & Machine Vision, (19 October 1987); doi: 10.1117/12.943018
Show Author Affiliations
Gerald Cook, George Mason University (United States)
Subhra Pal, George Mason University (United States)
Harry E. Stephanou, George Mason University (United States)


Published in SPIE Proceedings Vol. 0856:
IECON '87: Industrial Applications of Robotics & Machine Vision
Abe Abramovich, Editor(s)

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