Authors: [tex2html_wrap4256]K.S. Cho, N. Hori, J. Angeles, K.Shafik
Investigator username: angeles
Subcategory: manipulators and actuators
Light-weight robotic manipulators offer advantages such as higher speed performance, higher payload-to-weight ratio, smaller actuators and lower energy consumption. Potential areas of their application include such specialized tasks as space-structure construction and satellite manoeuvring. However, the structural members of such robotic mechanical systems admit a higher level of elastic flexibility, thus significantly limiting the bandwidth of the controlled system.
The aim of this research is to obtain a finite-dimensional dynamic model of a structurally flexible robot containing kinematic loops and to implement this model in the design of a real-time control algorithm. Emphasis is placed on the experimental verification of the proposed scheme.