Implementation of dynamic control of a single-link flexible arm using a government micro-computer.
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Today's demand for a high speed, low weight and large load capable manipulator has spurred the research on flexible manipulators. This thesis centers on an implementation of dynamic control on a single-link flexible arm utilizing a general purpose micro-computer. This research also studies the dynamic behavior of the control system with a brief comparison of the derived flexible-body-model controller to a rigid-body-model controller.
RightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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