A steady state tip control strategy for long reach robots

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Lewis, Jeremy;

The work presented in this thesis describes the development of a novel strategy for the steady state tip position control of a single link flexible robot arm. Control is based upon a master/slave relationship. Arm trajectory is defined by through 'master' positioning he... View more
  • References (22)
    22 references, page 1 of 3 Positioning head performance testing 3.3.2 Exoskeleton Modifications Arm Joints Revolute Joints - Designs and Operating Principles 3.5.1 Multiple Laser/Sensor Combinations 3.5.2 Single Laser Designs An 'in-line' joint using fibre optics An 'in-line' joint using a beam splitting cube The 'off-set' revolute joint

    The Prismatic Joint 6.3 The Improved Single-Axis Robot

    6.3.1 Direct Analogue Proportional Control

    6.3.2 PD Control

    6.3.3 PID Control 6.4 The Improved Prototype - Performance

    6.4.1 PID Performance

    6.4.2 PD Performance

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