Controlling a manipulator with structural elasticity using a force/torque sensor. (English. Russian original) Zbl 0683.70026

Gorinevskij, D. M.; Lizunov, A. B.

Autom. Remote Control 50, No. 3, 305-314 (1989); translation from Avtom. Telemekh. 1989, No. 3, 21-33 (1989).

Summary: We consider dynamic feedback design for controlling the one-dimensional motion of a manipulator with a force/torque sensor. The control loop includes a digital computer, and the controller design accordingly relies on a discrete model of system dynamics. The model is linear and allows for elasticity of the manipulator structure (the chassis) as well as for the motion of the grip point over the object. The controller is designed in a linear-quadratic Gaussian framework. Despite the deviation of the linear model from the nonlinear properties of the real system, the design has improved the transient performance in manipulator experiments.

MSC:

70Q05	Control of mechanical systems
93C95	Application models in control theory

Keywords:

dynamic feedback design; one-dimensional motion of a manipulator; force/torque sensor; control loop; linear-quadratic Gaussian framework