DIRECT ADAPTIVE CONTROL OF FLEXIBLE REMOTE MANIPULATOR ARM.

Deirdre Meldrum; M. J. Balas

DIRECT ADAPTIVE CONTROL OF FLEXIBLE REMOTE MANIPULATOR ARM.

Deirdre Meldrum
, M. J. Balas

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Equations of motion in model coordinates are derived for a single-link, flexible remote manipulator arm with a noncollocated sensor and actuator. The arm has an actuator with torque control at the pinned end and a visual sensor at the free end. A command generator tracker prescribes the rigid body mode to track the motion of a satellite in space while a model following adaptive controller dictates the flexible body modes. Performance results are obtained from a simulation developed using Advanced Continuous Simulation Language.

Original language	English (US)
Title of host publication	American Society of Mechanical Engineers, Production Engineering Division (Publication) PED
Editors	Max Donath, Ming C. Leu
Place of Publication	New York, NY, USA
Publisher	ASME
Pages	115-119
Number of pages	5
Volume	15
State	Published - 1985
Externally published	Yes

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Mechanical Engineering

Cite this

@inproceedings{fb0b479440324b558ee187403b13e3ec,

title = "DIRECT ADAPTIVE CONTROL OF FLEXIBLE REMOTE MANIPULATOR ARM.",

abstract = "Equations of motion in model coordinates are derived for a single-link, flexible remote manipulator arm with a noncollocated sensor and actuator. The arm has an actuator with torque control at the pinned end and a visual sensor at the free end. A command generator tracker prescribes the rigid body mode to track the motion of a satellite in space while a model following adaptive controller dictates the flexible body modes. Performance results are obtained from a simulation developed using Advanced Continuous Simulation Language.",

author = "Deirdre Meldrum and Balas, \{M. J.\}",

year = "1985",

language = "English (US)",

volume = "15",

pages = "115--119",

editor = "Max Donath and Leu, \{Ming C.\}",

booktitle = "American Society of Mechanical Engineers, Production Engineering Division (Publication) PED",

publisher = "ASME",

}

TY - GEN

T1 - DIRECT ADAPTIVE CONTROL OF FLEXIBLE REMOTE MANIPULATOR ARM.

AU - Meldrum, Deirdre

AU - Balas, M. J.

PY - 1985

Y1 - 1985

N2 - Equations of motion in model coordinates are derived for a single-link, flexible remote manipulator arm with a noncollocated sensor and actuator. The arm has an actuator with torque control at the pinned end and a visual sensor at the free end. A command generator tracker prescribes the rigid body mode to track the motion of a satellite in space while a model following adaptive controller dictates the flexible body modes. Performance results are obtained from a simulation developed using Advanced Continuous Simulation Language.

AB - Equations of motion in model coordinates are derived for a single-link, flexible remote manipulator arm with a noncollocated sensor and actuator. The arm has an actuator with torque control at the pinned end and a visual sensor at the free end. A command generator tracker prescribes the rigid body mode to track the motion of a satellite in space while a model following adaptive controller dictates the flexible body modes. Performance results are obtained from a simulation developed using Advanced Continuous Simulation Language.

UR - https://www.scopus.com/pages/publications/0022269617

UR - https://www.scopus.com/pages/publications/0022269617#tab=citedBy

M3 - Conference contribution

AN - SCOPUS:0022269617

VL - 15

SP - 115

EP - 119

BT - American Society of Mechanical Engineers, Production Engineering Division (Publication) PED

A2 - Donath, Max

A2 - Leu, Ming C.

PB - ASME

CY - New York, NY, USA

ER -

DIRECT ADAPTIVE CONTROL OF FLEXIBLE REMOTE MANIPULATOR ARM.

Abstract

ASJC Scopus subject areas

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