Accession Number : ADA192763

Title :   Adaptive Control of a Manipulator with a Flexible Link.

Descriptive Note : Contractor rept.,

Corporate Author : INSTITUTE FOR COMPUTER APPLICATIONS IN SCIENCE AND ENGINEERING HAMPTON VA

Personal Author(s) : Yang, Y P ; Gibson, J S

PDF Url : ADA192763

Report Date : Feb 1988

Pagination or Media Count : 20

Abstract : An adaptive controller for a manipulator with one rigid link and one flexible link is presented. The performance and robustness of the controller are demonstrated by numerical simulation results. In the simulations, the manipulator moves in a gravitational field and a finite element model represents the flexible link. Keywords: Adaptive control, Robot, Flexible link.

Descriptors :   *ADAPTIVE CONTROL SYSTEMS, *MANIPULATORS, FINITE ELEMENT ANALYSIS, GRAVITATIONAL FIELDS, MATHEMATICAL MODELS, NUMERICAL ANALYSIS, ROBOTS, LINKAGES

Subject Categories : Cybernetics
      Astronautics

Distribution Statement : APPROVED FOR PUBLIC RELEASE