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- W2145336816 abstract "The performance limitations of joint variable feedback controlled manipulators due to manipulator flexibility are studied in fine and gross motions. A finite dimensional time-domain manipulator model is used in the study. Fine motion analysis results agree very well with the previously reported results based on infinite dimensional frequency domain models. The limitations of a class of adaptive controllers in high speed gross motion control are studied. Manipulation speeds are quantified as low, medium, or high with reference to the arm flexibility and dynamic nonlinearities." @default.
- W2145336816 created "2016-06-24" @default.
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- W2145336816 date "1988-06-01" @default.
- W2145336816 modified "2023-09-25" @default.
- W2145336816 title "Performance of Lightweight Manipulators under Joint Variable Feedback Control: Analytical Study of Limitations" @default.
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- W2145336816 doi "https://doi.org/10.23919/acc.1988.4789780" @default.
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