END-POINT CONTROL OF A COMPLIANT TWO-LINK ROBOT.

Gregory M. Dick, Ken Tomiyama, H. Joseph Sommer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Joint angle servoed robots require rigid links for positioning accuracy. These massive links inhibit dynamic performance. Lightweight links allow faster motion, but their flexibility produces positioning errors. End-point control systems can observe and compensate for these errors thus allowing for precise lightweight robots. An adaptive end-point control system has been developed. Simulation results indicate that deflection induced errors have been significantly reduced.

Original languageEnglish (US)
Title of host publicationModeling and Simulation, Proceedings of the Annual Pittsburgh Conference
EditorsRobert Hanham, William G. Vogt, Marlin H. Mickle, M.A. Aburdene, R.D. Green, H.Q. Lu, A. Rose, S. Ak, C. Gubala, V.P. Lukic, H.A. Ryaciotaki-Boussalis
PublisherISA
Pages1739-1745
Number of pages7
Editionpt 5
ISBN (Print)087664972X
StatePublished - 1986

Publication series

NameModeling and Simulation, Proceedings of the Annual Pittsburgh Conference
Numberpt 5
Volume17

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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