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- W56949306 abstract "Abstract : Space-based manipulator systems like the Shuttle Remote Manipulation System contain long slender links that are inherently very flexible, which flexibility slows and degrades end-point position performance and makes high-performance control difficult. This project's research focuses on increasing the achievable slew and end-point performance of multi-link flexible manipulators through use of a small, high-bandwidth rigid robot at the tip, together with direct end-point sensing. A new soft-terminal-control approach has been developed for multi-link flexible manipulators that exploits both high-bandwidth local-manipulation capability and the redundancy introduced by the mani-manipulator, and the fact that the flexible main arm can be positioned more quickly to be within an area than it can be position to be at a point. In developing this new control approach, fundamental advances were made in trajectory generation, feedback-control design, and modelling of multi-link flexible manipulators." @default.
- W56949306 created "2016-06-24" @default.
- W56949306 creator A5070998431 @default.
- W56949306 date "1996-02-12" @default.
- W56949306 modified "2023-09-27" @default.
- W56949306 title "Experiments in High-Performance Control of a Multi Link Flexible Manipulator With a Mini-Manipulator." @default.
- W56949306 doi "https://doi.org/10.21236/ada309675" @default.
- W56949306 hasPublicationYear "1996" @default.
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