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RESEARCH PAPERS

Feedback Control of Two Beam, Two Joint Systems With Distributed Flexibility

[+] Author and Article Information
W. J. Book

Georgia Institute of Technology, Atlanta, Ga.

O. Maizza-Neto

Escola Politecnia da U.S.P., Sao Paulo, S. P., Brazil

D. E. Whitney

Charles Stark Draper Lab., Cambridge, Mass.

J. Dyn. Sys., Meas., Control 97(4), 424-431 (Dec 01, 1975) (8 pages) doi:10.1115/1.3426959 History: Received July 23, 1975; Online July 13, 2010

Abstract

The control of the flexible motion in a plane of two pinned beams is addressed with application to remote manipulators. Three types of linear feedback control schemes are considered: joint angle and velocity feedback with (GRC) and without (IJC) cross joint feedback, and feedback of flexible state variables (FFC). Two models of the distributed flexibility are presented along with some results obtained from them. The relative merit of the three control schemes is discussed.

Copyright © 1975 by ASME
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