Abstract
A robust dynamic control scheme to drive a complex payload with a flexible manipulator is presented. Force, rate and position control loops are first tuned in the case of an inert payload, which mass may vary in an arbitrary range. A simple representation of the dynamics of more complex payloads (including typically flexible appendages) is then introduced to analyze, with the help of a formal calculus tool, the stability of the various control loops according to the basic parameters describing the paylaod. Linear Quadratic control solutions taking into account explicitly the payload dynamics are also considered and discussed. An experimental mock-up is used to illustrate some remarkable behaviors of the closed loop system.
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