By Topic

Position and Force Control of Flexible Robotic Manipulators using the LQG/LTR Design Methodology

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Choi, Byung-Oh ; Department of Mechanical and Aerospace Engineering and Engineering Mechanics, University of Missouri-Rolla, Rolla, Missouri 65401-0249 ; Krishnamurthy, K.

Control of a two link planar manipulator with one flexible link executing constrained and unconstrained maneuvers is considered in this study. The dynamic model includes the impact force generated during the transition from unconstrained to constrained segment of the robotic task. The linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design methodology is exploited to design a robust feedback control system that can handle modelling errors and sensor noise, and operate on Cartesian space trajectory errors. The LQG/LTR compensator together with a feedforward loop is used to control the flexible manipulator. Simulated results are presented for a numerical example.

Published in:

American Control Conference, 1991

Date of Conference:

26-28 June 1991