Controlling the dynamics of mass capture by a single flexible link
Atlanta, GA（1993）
摘要
A coupled computed torque feedforward and proportional derivative (PD) feedback control approach is applied to develop a tip trajectory tracking controller for post-impact control of a flexible link capturing a moving payload mass. In both simulation and experiment, the controlled system is shown to exhibit good tip position tracking response and is compared favorably to hub angle PD feedback alone
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关键词
feedback,position control,robots,torque control,tracking,two-term control,computed torque feedforward control,dynamics of mass capture,hub torque,moving payload mass,post-impact control,proportional derivative feedback control,robotics,robustness,simulation,single flexible link,tip position tracking response,tip trajectory tracking controller
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