Jamie Lyman

Research has been conducted into the motion control of flexible robotic systems. By using both the rigid approximation and actual robotic trajectory in three dimensional space, simpler controllers can be used to maintain stability. This method of control is not limited to the specific system and has applications to robots such as Skycam and Dr. Caverly’s cable-driven parallel robot. This research utilizes adaptive feedforward and feedback controllers with robustness guarantees from passivity theory. A simulation of a 8 flexible cable, three dimensional robot was used to validate the control law. A more detailed presentation will be given at the 2023 American Control Conference.