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A Theoretical and Experimental Investigation on the Control of a Single-Link Flexible Robotic Manipulator Fabricated from Composite Laminates

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3 Author(s)
Choi, S.B. ; Machinery Elastodynamics Laboratory, Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824-1326 ; Thompson, B.S. ; Gandhi, M.V.

This paper discusses on the control of a single-link flexible robotic manipulator fabricated from advanced composite laminates. An output feedback controller incorporating two colocated sensors associated with angular position and velocity is designed based on the reduced-order model and implemented in order to investigate the control performances of robotic arms fabricated from aluminum and composite laminates. The control performances are evaluated and compared between two robotic arms through step responses of the system. It is shown in the experimental investigation that the arm fabricated from composite laminates has superior performance characteristics such as faster settling-time, smaller input torque and a superior increment of stability relative to the arm fabricated from aluminum.

Published in:

American Control Conference, 1990

Date of Conference:

23-25 May 1990