Controlled Motion in an Elastic World
作者： Wayne J. Book
DOI: 10.1115/1.2899065
关键词: Flexibility (engineering) 、 Control theory 、 Engineering 、 Kinematics 、 Motion (physics) 、 Artificial intelligence 、 Obstacle 、 Control system 、 Control engineering 、 Robotics 、 Feed forward 、 Nonlinear system
摘要: The flexibility of the drives and structures controlled motion systems are presented as an obstacle to be overcome in design high performance systems, particularly manipulator arms. task measure applied determine technology appropriate this obstacle. Included technologies proposed control algorithms (feedback feed forward), passive damping enhancement, operational strategies, structural design. Modeling distributed, nonlinear system is difficult, alternative approaches discussed. author presents personal perspectives on history, status, future directions area.
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