This is a two link flexible macro/mini manipulator.
Feedback Control of Very Flexible Manipulators
Achieving high-performance control of very flexible structures is a
challenging task, but one that is critical to the success of many
important applications. Fundamental issues that make this task demanding
include:
- How to control a system where the actuators and sensors are
separated by a flexible structure
- How to model a complex flexible structure
- How to deal with unknown system parameters
- How to control end-point impedance to allow contact with the environment
The ARL has a vision of extending and enhancing the utility of
flexible structures in ways that are pertinent to all real-world
applications. Toward this vision, the ARL has an on-going research
program focused on making significant basic advancements in each of
these fundamental issues.
All of our related research is guided by one common goal: developing
a fundamental understanding of how to achieve high-performance control
of very flexible structures. Continuing research is critical to the
successful overall control of very flexible structures.
A most important point about research within the ARL is that all of
the research is verified experimentally. This emphasis allows us to
directly address real-world challenges and to make fundamental
contributions that could not otherwise even be considered. The latest
experimental platform is the flexible joint macro/mini manipulator.
More Information
For questions or comments contact:
www@sun-valley.stanford.edu