Accession Number : ADA134185

Title :   Stability Enhancement of a Flexible Robot Manipulator.

Descriptive Note : Final rept. 1982-1983,


Personal Author(s) : Looke,Thomas D

PDF Url : ADA134185

Report Date : 24 Jun 1983

Pagination or Media Count : 115

Abstract : A computer software programming technique was developed to compensate a highly oscillatory robot system controlled by a bang-bang input. The assumptions that the system was linear and had lumped parameter characteristics allowed a fifth order, simplified dynamic model to be derived. Analysis using frequency response methods led to further simplification of the model to a third order system. Based on the third order model, a technique was developed which would compensate the system with a form of deadbeat control. Simulation of the model driven by the compensated bang-bang input verified the deadbeat response. The technique was implemented on an 8080-based microcomputer system which controlled the input. Actual system response to the compensated input was observed to be essentially free of the undesirable oscillatory motions, thus yielding an apparently rigid system. (Author)

Descriptors :   *Mathematical models, *Robots, *Computer programs, Microcomputers, Manipulators, Oscillation, Automata, Stability, Compensators, Sensitivity, Rigidity, Systems engineering, Flexible structures

Subject Categories : Numerical Mathematics
      Computer Programming and Software
      Computer Hardware

Distribution Statement : APPROVED FOR PUBLIC RELEASE