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

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

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

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

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference
Editors	Robert 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
Publisher	ISA
Pages	1739-1745
Number of pages	7
Edition	pt 5
ISBN (Print)	087664972X
State	Published - 1986

Publication series

Name	Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference
Number	pt 5
Volume	17

All Science Journal Classification (ASJC) codes

General Engineering

Cite this

Dick, G. M., Tomiyama, K., & Sommer, H. J. (1986). END-POINT CONTROL OF A COMPLIANT TWO-LINK ROBOT. In R. Hanham, W. G. Vogt, M. H. Mickle, M. A. Aburdene, R. D. Green, H. Q. Lu, A. Rose, S. Ak, C. Gubala, V. P. Lukic, & H. A. Ryaciotaki-Boussalis (Eds.), Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference (pt 5 ed., pp. 1739-1745). (Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference; Vol. 17, No. pt 5). ISA.

Dick, Gregory M. ; Tomiyama, Ken ; Sommer, H. Joseph. / END-POINT CONTROL OF A COMPLIANT TWO-LINK ROBOT. Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference. editor / Robert 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. pt 5. ed. ISA, 1986. pp. 1739-1745 (Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference; pt 5).

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title = "END-POINT CONTROL OF A COMPLIANT TWO-LINK ROBOT.",

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.",

author = "Dick, \{Gregory M.\} and Ken Tomiyama and Sommer, \{H. Joseph\}",

year = "1986",

language = "English (US)",

isbn = "087664972X",

series = "Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference",

publisher = "ISA",

number = "pt 5",

pages = "1739--1745",

editor = "Robert Hanham and Vogt, \{William G.\} and Mickle, \{Marlin H.\} and M.A. Aburdene and R.D. Green and H.Q. Lu and A. Rose and S. Ak and C. Gubala and V.P. Lukic and H.A. Ryaciotaki-Boussalis",

booktitle = "Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference",

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}

Dick, GM, Tomiyama, K & Sommer, HJ 1986, END-POINT CONTROL OF A COMPLIANT TWO-LINK ROBOT. in R Hanham, WG Vogt, MH Mickle, MA Aburdene, RD Green, HQ Lu, A Rose, S Ak, C Gubala, VP Lukic & HA Ryaciotaki-Boussalis (eds), Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference. pt 5 edn, Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference, no. pt 5, vol. 17, ISA, pp. 1739-1745.

END-POINT CONTROL OF A COMPLIANT TWO-LINK ROBOT. / Dick, Gregory M.; Tomiyama, Ken; Sommer, H. Joseph.
Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference. ed. / Robert 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. pt 5. ed. ISA, 1986. p. 1739-1745 (Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference; Vol. 17, No. pt 5).

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

TY - GEN

T1 - END-POINT CONTROL OF A COMPLIANT TWO-LINK ROBOT.

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AU - Tomiyama, Ken

AU - Sommer, H. Joseph

PY - 1986

Y1 - 1986

N2 - 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.

AB - 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.

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M3 - Conference contribution

AN - SCOPUS:0022943039

SN - 087664972X

T3 - Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference

SP - 1739

EP - 1745

BT - Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference

A2 - Hanham, Robert

A2 - Vogt, William G.

A2 - Mickle, Marlin H.

A2 - Aburdene, M.A.

A2 - Green, R.D.

A2 - Lu, H.Q.

A2 - Rose, A.

A2 - Ak, S.

A2 - Gubala, C.

A2 - Lukic, V.P.

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PB - ISA

ER -

Dick GM, Tomiyama K, Sommer HJ. END-POINT CONTROL OF A COMPLIANT TWO-LINK ROBOT. In Hanham R, Vogt WG, Mickle MH, Aburdene MA, Green RD, Lu HQ, Rose A, Ak S, Gubala C, Lukic VP, Ryaciotaki-Boussalis HA, editors, Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference. pt 5 ed. ISA. 1986. p. 1739-1745. (Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference; pt 5).

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

Abstract

Publication series

All Science Journal Classification (ASJC) codes

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