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Study of design and control of remote manipulators. Modeling manipulator arms with distributed flexibility for design and controlThe interactions of control system and distributed flexible structural dynamics is explored for mechanical arms. A modeling process using 4 x 4 transfer matrices is described which permits the closed loop response of many current arm configurations to be evaluated. Root locus, frequency response, modal shapes, and time impulse response have all been obtained from the digital computer implementation of this model, which is oriented to arm design and allows for easy variation of the arm configuration through data cards. The model corresponds with experimentally observed natural frequencies with an average error of less than 5% in the first three flexible modes in the seven cases considered. The model was used to explore the limits imposed by structural flexibility on a nondimensionalized two link arm with one and two joints for planar motion.
Document ID
19740021190
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Book, W. J. (Massachusetts Inst. of Tech. Cambridge, MA, United States)
Date Acquired
September 3, 2013
Publication Date
January 31, 1974
Subject Category
Structural Mechanics
Report/Patent Number
NASA-CR-120269
Accession Number
74N29303
Funding Number(s)
CONTRACT_GRANT: NAS8-28055
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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