Stability Enhancement of a Flexible Robot Manipulator.
Final rept. 1982-1983,
NAVAL ACADEMY ANNAPOLIS MD
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A computer software programming technique was developed to compensate a highly oscillatory robot system controlled by a bang-bang input. The assumptions that the system was linear and had lumped parameter characteristics allowed a fifth order, simplified dynamic model to be derived. Analysis using frequency response methods led to further simplification of the model to a third order system. Based on the third order model, a technique was developed which would compensate the system with a form of deadbeat control. Simulation of the model driven by the compensated bang-bang input verified the deadbeat response. The technique was implemented on an 8080-based microcomputer system which controlled the input. Actual system response to the compensated input was observed to be essentially free of the undesirable oscillatory motions, thus yielding an apparently rigid system. Author
- Numerical Mathematics
- Computer Programming and Software
- Computer Hardware