Control system design of the third flexible joint of PUMA 560 Robot.
Knight, Robby Lee
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With the increased demands for higher productivity in industry and the military, control of Robot Manipulators with flexible joints is needed. The difficulties associated with the control of flexible joint robots include the following: (1) Nonlinearity of the arm motion (2) Coupled large motion (motion of the motor) and small motion (mechanical vibration) and (3) measurements of feedback signals. This theis presents an controller designed to handle the difficulties related to flexible joint robots. The third joint of the PUMA 560 Robot was selected as an example. A control algorithm for flexible-body control was devised and an observer was designed with the use of MATRIX^, to control tip motion of the single-link single-joint system. Computer simulation results are discussed, and a comparison between rigid-body controllers and the flexible-body control is conducted.
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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