DIRECT ADAPTIVE CONTROL OF FLEXIBLE REMOTE MANIPULATOR ARM.

Deirdre Meldrum, M. J. Balas

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

8 Scopus citations

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 languageEnglish (US)
Title of host publicationAmerican Society of Mechanical Engineers, Production Engineering Division (Publication) PED
EditorsMax Donath, Ming C. Leu
Place of PublicationNew York, NY, USA
PublisherASME
Pages115-119
Number of pages5
Volume15
StatePublished - 1985
Externally publishedYes

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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