By Topic

Feedforward and feedback control of a flexible robotic arm

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

3 Author(s)
Wells, R.L. ; Dept. of Mech. Eng., Florida Univ., Gainesville, FL, USA ; Schueller, J.K. ; Tlusty, J.

Feedforward and feedback control strategies are applied to a servo-driven flexible structure and studied by time-domain computer simulations. Simulation results are compared to the results of experimental runs on a flexible arm apparatus. The most accurate and stable responses of the arm are obtained by adding corrective terms to the command signals when position feedback is taken only from the servo. Full conditioning of the command signal, which involves compensating for the dynamics of both the servo and the arm, produced the best response. Simulations and experiments show that positional and accelerometric feedback, combined with a proportional-derivative element acting on the position error, is a viable solution in the less stable situation when feedback is being taken only from the manipulator.<>

Published in:

Control Systems Magazine, IEEE  (Volume:10 ,  Issue: 1 )