Controlling a manipulator with an effort sensor and an allowance for elasticity of the manipulator parts

The design is discussed of a dynamic feedback for a singledimensional motion of a manipulator. The control loop includes a digital computer and so the design relies on a discrete-time model of the system dynamics. The model is linear and recognizes elasticity of the manipulator structure (support) and the motion of the point where the object is contacted. The controller is designed in a linear-quadratic — Gaussian procedure. Despite the discrepancy between the linear model and nonlinear properties of the actual system the performance of transient processes is improved in the experiment.