Control system design of the third flexible joint of PUMA 560 Robot.
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Authors
Knight, Robby Lee
Subjects
MATRIXx
control syetem design
robot manipulators
control syetem design
robot manipulators
Advisors
Chang, Liang-Wey
Date of Issue
1989-06
Date
June 1989
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
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.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
128 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This 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.