Accession Number : ADA187037

Title :   Control System Simulation for a Single-Link Flexible Arm.

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Park, Ki S

PDF Url : ADA187037

Report Date : Sep 1987

Pagination or Media Count : 88

Abstract : To control a lightweight manipulator, a validated dynamic model based on the Equivalent Rigid Link System (ERLS), is used to formulate a control algorithm. The required torque to drive the manipulator to a desired angle is calculated. Since the control system includes an electrohydraulic actuator, the required current is also calculated by the inverse dynamics of the hydraulic servo. A computerized simulation is performed with various loading conditions, gain values, and desired angles. Keywords: Flexible manipulator. (Thesis)

Descriptors :   *CONTROL SYSTEMS, *MANIPULATORS, *HYDRAULIC EQUIPMENT, ALGORITHMS, COMPUTERIZED SIMULATION, CONTROL, DRIVES, DYNAMICS, FLEXIBLE STRUCTURES, GAIN, INVERSION, LIGHTWEIGHT, MODELS, SERVOMECHANISMS, SIMULATION, TORQUE, VALIDATION, THESES, ELECTROHYDRAULIC VALVES, COMPUTER PROGRAMS

Subject Categories : Hydraulic and Pneumatic Equipment

Distribution Statement : APPROVED FOR PUBLIC RELEASE